# 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: Lucia2009_2v2.rte # Mission File: Lucia2009_2v2.cfg # Distance: 82731.898388 (m) # Estimated Time: 58019 (s) 16.117 (hr) # Abort Time: 61701 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1298 (s) # Way Points: 154 # Route Points: 703 # 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: 1093.120286 (m) # Abort Vehicle Depth: 1118.120286 (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 -121.895053 35.724891 -1102.499512 0.000000 3 # 1 -121.903069 35.720192 -1098.478516 892.965761 4 # 2 -121.902746 35.719826 -1096.852722 942.965761 3 # 3 -121.894730 35.724525 -1098.782013 1835.931521 4 # 4 -121.894408 35.724159 -1096.369019 1885.931521 3 # 5 -121.902423 35.719460 -1095.354370 2778.897282 4 # 6 -121.902101 35.719094 -1096.451416 2828.897282 3 # 7 -121.894085 35.723793 -1094.607269 3721.863043 4 # 8 -121.893762 35.723427 -1093.103394 3771.863043 3 # 9 -121.901778 35.718728 -1093.453827 4664.828804 4 # 10 -121.901455 35.718362 -1094.673767 4714.828804 3 # 11 -121.893440 35.723061 -1092.276154 5607.794564 4 # 12 -121.893117 35.722695 -1091.112244 5657.794564 3 # 13 -121.901133 35.717996 -1092.901825 6550.760325 4 # 14 -121.900810 35.717630 -1092.962219 6600.760325 3 # 15 -121.892794 35.722329 -1089.276245 7493.726086 4 # 16 -121.892472 35.721963 -1088.313110 7543.726086 3 # 17 -121.900488 35.717264 -1093.008942 8436.691846 4 # 18 -121.900165 35.716898 -1092.978699 8486.691846 3 # 19 -121.892149 35.721597 -1088.763489 9379.657607 4 # 20 -121.891827 35.721231 -1087.722229 9429.657607 3 # 21 -121.899842 35.716532 -1091.370178 10322.623368 4 # 22 -121.899520 35.716166 -1090.912170 10372.623368 3 # 23 -121.891504 35.720865 -1086.941589 11265.589129 4 # 24 -121.891181 35.720499 -1087.171997 11315.589129 3 # 25 -121.899197 35.715800 -1089.055969 12208.554889 4 # 26 -121.903027 35.720106 -1097.633606 12798.560186 3 # 27 -121.894966 35.724831 -1100.516968 13696.525947 4 # 28 -121.894643 35.724465 -1098.782013 13746.525947 3 # 29 -121.902704 35.719740 -1096.852722 14644.491707 4 # 30 -121.902381 35.719374 -1095.354370 14694.491707 3 # 31 -121.894321 35.724099 -1096.369019 15592.457468 4 # 32 -121.893998 35.723733 -1093.881989 15642.457468 3 # 33 -121.902059 35.719008 -1095.706421 16540.423229 4 # 34 -121.901736 35.718642 -1094.207611 16590.423229 3 # 35 -121.893675 35.723367 -1092.805511 17488.388990 4 # 36 -121.893353 35.723001 -1092.276154 17538.388990 3 # 37 -121.901413 35.718276 -1094.673767 18436.354750 4 # 38 -121.901091 35.717910 -1092.605469 18486.354750 3 # 39 -121.893030 35.722635 -1090.853912 19384.320511 4 # 40 -121.892708 35.722269 -1089.276245 19434.320511 3 # 41 -121.900768 35.717544 -1092.962219 20332.286272 4 # 42 -121.900445 35.717178 -1093.008942 20382.286272 3 # 43 -121.892385 35.721903 -1088.313110 21280.252033 4 # 44 -121.892062 35.721537 -1088.101227 21330.252033 3 # 45 -121.900123 35.716812 -1091.714600 22228.217793 4 # 46 -121.899800 35.716446 -1091.499329 22278.217793 3 # 47 -121.891740 35.721171 -1087.103516 23176.183554 4 # 48 -121.891417 35.720805 -1086.941589 23226.183554 3 # 49 -121.899478 35.716080 -1090.912170 24124.149315 4 # 50 -121.899155 35.715714 -1088.741241 24174.149315 3 # 51 -121.891094 35.720439 -1087.171997 25072.115075 4 # 52 -121.894879 35.724771 -1100.516968 25662.120372 3 # 53 -121.902985 35.720020 -1097.633606 26565.086133 4 # 54 -121.902662 35.719654 -1096.852722 26615.086133 3 # 55 -121.894556 35.724405 -1098.782013 27518.051894 4 # 56 -121.894234 35.724039 -1096.052612 27568.051894 3 # 57 -121.902339 35.719288 -1095.235168 28471.017654 4 # 58 -121.902017 35.718922 -1094.154510 28521.017654 3 # 59 -121.893911 35.723673 -1093.881989 29423.983415 4 # 60 -121.893588 35.723307 -1092.805511 29473.983415 3 # 61 -121.901694 35.718556 -1094.207611 30376.949176 4 # 62 -121.901371 35.718190 -1093.095764 30426.949176 3 # 63 -121.893266 35.722941 -1092.276154 31329.914937 4 # 64 -121.892943 35.722575 -1090.853912 31379.914937 3 # 65 -121.901049 35.717824 -1092.605469 32282.880697 4 # 66 -121.900726 35.717458 -1092.962219 32332.880697 3 # 67 -121.892621 35.722209 -1089.276245 33235.846458 4 # 68 -121.892298 35.721843 -1089.152374 33285.846458 3 # 69 -121.900403 35.717092 -1092.835815 34188.812219 4 # 70 -121.900081 35.716726 -1091.823364 34238.812219 3 # 71 -121.891975 35.721477 -1087.792023 35141.777979 4 # 72 -121.891653 35.721111 -1087.103516 35191.777979 3 # 73 -121.899758 35.716360 -1091.499329 36094.743740 4 # 74 -121.899435 35.715994 -1089.724579 36144.743740 3 # 75 -121.891330 35.720745 -1086.941589 37047.709501 4 # 76 -121.891007 35.720379 -1087.211426 37097.709501 3 # 77 -121.899113 35.715628 -1088.741241 38000.675262 4 # 78 -121.902942 35.719933 -1097.633606 38590.680558 3 # 79 -121.894792 35.724711 -1099.590424 39498.646319 4 # 80 -121.894469 35.724345 -1098.196655 39548.646319 3 # 81 -121.902620 35.719567 -1095.645538 40456.612080 4 # 82 -121.902297 35.719201 -1095.235168 40506.612080 3 # 83 -121.894147 35.723979 -1094.607269 41414.577841 4 # 84 -121.893824 35.723613 -1093.881989 41464.577841 3 # 85 -121.901975 35.718835 -1094.154510 42372.543601 4 # 86 -121.901652 35.718469 -1095.421326 42422.543601 3 # 87 -121.893501 35.723247 -1092.805511 43330.509362 4 # 88 -121.893179 35.722881 -1092.630615 43380.509362 3 # 89 -121.901329 35.718103 -1093.095764 44288.475123 4 # 90 -121.901007 35.717737 -1092.605469 44338.475123 3 # 91 -121.892856 35.722515 -1090.229218 45246.440884 4 # 92 -121.892534 35.722149 -1088.996429 45296.440884 3 # 93 -121.900684 35.717371 -1092.948578 46204.406644 4 # 94 -121.900361 35.717005 -1092.835815 46254.406644 3 # 95 -121.892211 35.721783 -1088.763489 47162.372405 4 # 96 -121.891888 35.721417 -1087.792023 47212.372405 3 # 97 -121.900039 35.716639 -1091.823364 48120.338166 4 # 98 -121.899716 35.716273 -1091.168945 48170.338166 3 # 99 -121.891566 35.721051 -1087.103516 49078.303927 4 # 100 -121.891243 35.720685 -1086.811127 49128.303927 3 # 101 -121.899393 35.715907 -1089.724579 50036.269687 4 # 102 -121.899071 35.715541 -1088.741241 50086.269687 3 # 103 -121.890921 35.720319 -1086.851379 50994.235448 4 # 104 -121.894705 35.724651 -1099.590424 51584.240745 3 # 105 -121.902900 35.719847 -1097.698425 52497.206505 4 # 106 -121.902578 35.719481 -1095.645538 52547.206505 3 # 107 -121.894382 35.724285 -1096.369019 53460.172266 4 # 108 -121.894060 35.723919 -1094.607269 53510.172266 3 # 109 -121.902255 35.719115 -1096.451416 54423.138027 4 # 110 -121.901932 35.718749 -1093.453827 54473.138027 3 # 111 -121.893737 35.723553 -1093.881989 55386.103788 4 # 112 -121.893415 35.723187 -1092.276154 55436.103788 3 # 113 -121.901610 35.718383 -1095.421326 56349.069548 4 # 114 -121.901287 35.718017 -1093.095764 56399.069548 3 # 115 -121.893092 35.722821 -1091.112244 57312.035309 4 # 116 -121.892769 35.722455 -1090.229218 57362.035309 3 # 117 -121.900964 35.717651 -1092.751648 58275.001070 4 # 118 -121.900642 35.717285 -1092.948578 58325.001070 3 # 119 -121.892447 35.722089 -1088.996429 59237.966831 4 # 120 -121.892124 35.721723 -1088.763489 59287.966831 3 # 121 -121.900319 35.716919 -1092.978699 60200.932591 4 # 122 -121.899997 35.716553 -1091.370178 60250.932591 3 # 123 -121.891801 35.721357 -1087.792023 61163.898352 4 # 124 -121.891479 35.720991 -1086.813202 61213.898352 3 # 125 -121.899674 35.716187 -1091.168945 62126.864113 4 # 126 -121.899351 35.715821 -1089.724579 62176.864113 3 # 127 -121.891156 35.720625 -1087.171997 63089.829874 4 # 128 -121.890834 35.720259 -1086.851379 63139.829874 3 # 129 -121.899029 35.715455 -1088.741241 64052.795634 4 # 130 -121.898196 35.715814 -1089.370483 64138.000744 3 # 131 -121.902476 35.720669 -1099.279175 64801.171318 4 # 132 -121.901808 35.721060 -1100.906982 64875.585132 3 # 133 -121.897528 35.716206 -1089.266663 65538.755706 4 # 134 -121.896860 35.716597 -1088.465515 65613.169519 3 # 135 -121.901140 35.721452 -1098.621979 66276.340093 4 # 136 -121.900472 35.721843 -1098.194214 66350.753906 3 # 137 -121.896192 35.716989 -1088.513733 67013.924480 4 # 138 -121.895524 35.717381 -1086.208740 67088.338294 3 # 139 -121.899804 35.722235 -1095.660645 67751.508867 4 # 140 -121.899136 35.722627 -1095.562469 67825.922681 3 # 141 -121.894856 35.717772 -1086.285645 68489.093255 4 # 142 -121.894189 35.718164 -1086.194641 68563.507068 3 # 143 -121.898468 35.723018 -1096.264893 69226.677642 4 # 144 -121.897800 35.723410 -1095.165985 69301.091455 3 # 145 -121.893521 35.718555 -1086.780029 69964.262029 4 # 146 -121.892853 35.718947 -1085.887573 70038.675843 3 # 147 -121.897132 35.723801 -1097.815247 70701.846417 4 # 148 -121.896464 35.724193 -1097.760986 70776.260230 3 # 149 -121.892185 35.719338 -1085.759308 71439.430804 4 # 150 -121.891517 35.719730 -1088.008453 71513.844617 3 # 151 -121.895796 35.724584 -1100.353668 72177.015191 3 # 152 -121.874008 35.751479 -1111.241048 75752.214082 1 # 153 -121.831995 35.804272 -1081.818115 82731.898388 4 # # A total of 703 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61701; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1093.120286; abortDepth = 1118.120286; 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 = 1298; 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 153 # Segment length 112.489460 meters # Minimum depth: 1081.818115 meters looking forward 0.000000 meters along route # Maximum depth: 1081.818115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.818115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804272; longitude = -121.831995; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1035.754719; finalDepth = 1031.818115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.818115 # Seafloor depth:-1081.818115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1085.754719 meters looking forward 0.000000 meters along route # Maximum depth: 1085.754719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.754719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803074; longitude = -121.832948; captureRadius = 10; duration = 112; initialDepth = 1036.936534; finalDepth = 1035.754719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.754719 # Seafloor depth:-1085.754719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1086.936534 meters looking forward 0.000000 meters along route # Maximum depth: 1086.936534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.936534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802245; longitude = -121.833608; captureRadius = 10; duration = 112; initialDepth = 1043.138930; finalDepth = 1036.936534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.936534 # Seafloor depth:-1086.936534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1093.138930 meters looking forward 0.000000 meters along route # Maximum depth: 1093.138930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.138930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801378; longitude = -121.834298; captureRadius = 10; duration = 112; initialDepth = 1040.211802; finalDepth = 1043.138930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.13893 # Seafloor depth:-1093.138930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1090.211802 meters looking forward 0.000000 meters along route # Maximum depth: 1090.211802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.211802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.834928; captureRadius = 10; duration = 112; initialDepth = 1037.814690; finalDepth = 1040.211802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.211802 # Seafloor depth:-1090.211802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1087.814690 meters looking forward 0.000000 meters along route # Maximum depth: 1087.814690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.814690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.835588; captureRadius = 10; duration = 112; initialDepth = 1040.959191; finalDepth = 1037.814690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.81469 # Seafloor depth:-1087.814690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1090.959191 meters looking forward 0.000000 meters along route # Maximum depth: 1090.959191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.959191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.836248; captureRadius = 10; duration = 112; initialDepth = 1044.021378; finalDepth = 1040.959191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.959191 # Seafloor depth:-1090.959191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1094.021378 meters looking forward 0.000000 meters along route # Maximum depth: 1094.021378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.021378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.836908; captureRadius = 10; duration = 112; initialDepth = 1045.416242; finalDepth = 1044.021378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.021378 # Seafloor depth:-1094.021378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1095.416242 meters looking forward 0.000000 meters along route # Maximum depth: 1095.416242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.416242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797210; longitude = -121.837615; captureRadius = 10; duration = 112; initialDepth = 1051.893204; finalDepth = 1045.416242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.416242 # Seafloor depth:-1095.416242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1101.893204 meters looking forward 0.000000 meters along route # Maximum depth: 1101.893204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.893204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.838227; captureRadius = 10; duration = 112; initialDepth = 1054.330534; finalDepth = 1051.893204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.893204 # Seafloor depth:-1101.893204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1104.330534 meters looking forward 0.000000 meters along route # Maximum depth: 1104.330534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.330534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.838887; captureRadius = 10; duration = 112; initialDepth = 1060.948952; finalDepth = 1054.330534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.330534 # Seafloor depth:-1104.330534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1110.948952 meters looking forward 0.000000 meters along route # Maximum depth: 1110.948952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.948952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794779; longitude = -121.839550; captureRadius = 10; duration = 112; initialDepth = 1059.987198; finalDepth = 1060.948952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.948952 # Seafloor depth:-1110.948952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.987198 meters looking forward 0.000000 meters along route # Maximum depth: 1109.987198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.987198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.840207; captureRadius = 10; duration = 112; initialDepth = 1058.939582; finalDepth = 1059.987198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.987198 # Seafloor depth:-1109.987198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1108.939582 meters looking forward 0.000000 meters along route # Maximum depth: 1108.939582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.939582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.840867; captureRadius = 10; duration = 112; initialDepth = 1057.783526; finalDepth = 1058.939582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.939582 # Seafloor depth:-1108.939582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.783526 meters looking forward 0.000000 meters along route # Maximum depth: 1107.783526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.783526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.841527; captureRadius = 10; duration = 112; initialDepth = 1056.255896; finalDepth = 1057.783526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.783526 # Seafloor depth:-1107.783526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1106.255896 meters looking forward 0.000000 meters along route # Maximum depth: 1106.255896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.255896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.842187; captureRadius = 10; duration = 112; initialDepth = 1055.328637; finalDepth = 1056.255896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.255896 # Seafloor depth:-1106.255896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1105.328637 meters looking forward 0.000000 meters along route # Maximum depth: 1105.328637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.328637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790611; longitude = -121.842867; captureRadius = 10; duration = 112; initialDepth = 1054.735166; finalDepth = 1055.328637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.328637 # Seafloor depth:-1105.328637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1104.735166 meters looking forward 0.000000 meters along route # Maximum depth: 1104.735166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.735166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.843506; captureRadius = 10; duration = 112; initialDepth = 1051.755742; finalDepth = 1054.735166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.735166 # Seafloor depth:-1104.735166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1101.755742 meters looking forward 0.000000 meters along route # Maximum depth: 1101.755742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.755742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.844166; captureRadius = 10; duration = 112; initialDepth = 1052.418436; finalDepth = 1051.755742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.755742 # Seafloor depth:-1101.755742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1102.418436 meters looking forward 0.000000 meters along route # Maximum depth: 1102.418436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.418436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.844826; captureRadius = 10; duration = 112; initialDepth = 1055.252486; finalDepth = 1052.418436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.418436 # Seafloor depth:-1102.418436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1105.252486 meters looking forward 0.000000 meters along route # Maximum depth: 1105.252486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.252486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.845486; captureRadius = 10; duration = 112; initialDepth = 1057.638045; finalDepth = 1055.252486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.252486 # Seafloor depth:-1105.252486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.638045 meters looking forward 0.000000 meters along route # Maximum depth: 1107.638045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.638045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786443; longitude = -121.846184; captureRadius = 10; duration = 112; initialDepth = 1056.304813; finalDepth = 1057.638045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.638045 # Seafloor depth:-1107.638045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1106.304813 meters looking forward 0.000000 meters along route # Maximum depth: 1106.304813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.304813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.846806; captureRadius = 10; duration = 112; initialDepth = 1056.796245; finalDepth = 1056.304813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.304813 # Seafloor depth:-1106.304813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1106.796245 meters looking forward 0.000000 meters along route # Maximum depth: 1106.796245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.796245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.847466; captureRadius = 10; duration = 112; initialDepth = 1057.791900; finalDepth = 1056.796245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.796245 # Seafloor depth:-1106.796245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.791900 meters looking forward 0.000000 meters along route # Maximum depth: 1107.791900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.791900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.848126; captureRadius = 10; duration = 112; initialDepth = 1058.277018; finalDepth = 1057.791900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.7919 # Seafloor depth:-1107.791900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1108.277018 meters looking forward 0.000000 meters along route # Maximum depth: 1108.277018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.277018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.848786; captureRadius = 10; duration = 112; initialDepth = 1064.054932; finalDepth = 1058.277018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.277018 # Seafloor depth:-1108.277018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1114.054932 meters looking forward 0.000000 meters along route # Maximum depth: 1114.054932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.054932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782275; longitude = -121.849501; captureRadius = 10; duration = 112; initialDepth = 1060.375918; finalDepth = 1064.054932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.054932 # Seafloor depth:-1114.054932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1110.375918 meters looking forward 0.000000 meters along route # Maximum depth: 1110.375918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.375918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.850105; captureRadius = 10; duration = 112; initialDepth = 1058.210171; finalDepth = 1060.375918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.375918 # Seafloor depth:-1110.375918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1108.210171 meters looking forward 0.000000 meters along route # Maximum depth: 1108.210171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.210171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.850765; captureRadius = 10; duration = 112; initialDepth = 1054.527532; finalDepth = 1058.210171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.210171 # Seafloor depth:-1108.210171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1104.527532 meters looking forward 0.000000 meters along route # Maximum depth: 1104.527532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.527532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779844; longitude = -121.851435; captureRadius = 10; duration = 112; initialDepth = 1057.395776; finalDepth = 1054.527532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.527532 # Seafloor depth:-1104.527532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.395776 meters looking forward 0.000000 meters along route # Maximum depth: 1107.395776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.395776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.852085; captureRadius = 10; duration = 112; initialDepth = 1056.283955; finalDepth = 1057.395776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.395776 # Seafloor depth:-1107.395776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1106.283955 meters looking forward 0.000000 meters along route # Maximum depth: 1106.283955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.283955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.852745; captureRadius = 10; duration = 112; initialDepth = 1058.125098; finalDepth = 1056.283955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.283955 # Seafloor depth:-1106.283955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1108.125098 meters looking forward 0.000000 meters along route # Maximum depth: 1108.125098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.125098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.853405; captureRadius = 10; duration = 112; initialDepth = 1057.596953; finalDepth = 1058.125098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.125098 # Seafloor depth:-1108.125098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.596953 meters looking forward 0.000000 meters along route # Maximum depth: 1107.596953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.596953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.854065; captureRadius = 10; duration = 112; initialDepth = 1059.456665; finalDepth = 1057.596953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.596953 # Seafloor depth:-1107.596953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.456665 meters looking forward 0.000000 meters along route # Maximum depth: 1109.456665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.456665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775676; longitude = -121.854752; captureRadius = 10; duration = 112; initialDepth = 1057.572250; finalDepth = 1059.456665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.456665 # Seafloor depth:-1109.456665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.572250 meters looking forward 0.000000 meters along route # Maximum depth: 1107.572250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.572250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.855385; captureRadius = 10; duration = 112; initialDepth = 1059.487629; finalDepth = 1057.572250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.57225 # Seafloor depth:-1107.572250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.487629 meters looking forward 0.000000 meters along route # Maximum depth: 1109.487629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.487629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.856045; captureRadius = 10; duration = 112; initialDepth = 1057.978070; finalDepth = 1059.487629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.487629 # Seafloor depth:-1109.487629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.978070 meters looking forward 0.000000 meters along route # Maximum depth: 1107.978070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.978070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.856704; captureRadius = 10; duration = 112; initialDepth = 1057.565883; finalDepth = 1057.978070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.97807 # Seafloor depth:-1107.978070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.565883 meters looking forward 0.000000 meters along route # Maximum depth: 1107.565883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.565883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.857364; captureRadius = 10; duration = 112; initialDepth = 1057.581969; finalDepth = 1057.565883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.565883 # Seafloor depth:-1107.565883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.581969 meters looking forward 0.000000 meters along route # Maximum depth: 1107.581969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.581969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771508; longitude = -121.858069; captureRadius = 10; duration = 112; initialDepth = 1058.892265; finalDepth = 1057.581969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.581969 # Seafloor depth:-1107.581969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1108.892265 meters looking forward 0.000000 meters along route # Maximum depth: 1108.892265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.892265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.858684; captureRadius = 10; duration = 112; initialDepth = 1058.183769; finalDepth = 1058.892265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.892265 # Seafloor depth:-1108.892265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1108.183769 meters looking forward 0.000000 meters along route # Maximum depth: 1108.183769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.183769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.859344; captureRadius = 10; duration = 112; initialDepth = 1062.515137; finalDepth = 1058.183769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.183769 # Seafloor depth:-1108.183769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1112.515137 meters looking forward 0.000000 meters along route # Maximum depth: 1112.515137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.515137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.860004; captureRadius = 10; duration = 112; initialDepth = 1065.502409; finalDepth = 1062.515137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.515137 # Seafloor depth:-1112.515137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1115.502409 meters looking forward 0.000000 meters along route # Maximum depth: 1115.502409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.502409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.860664; captureRadius = 10; duration = 112; initialDepth = 1062.272873; finalDepth = 1065.502409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.502409 # Seafloor depth:-1115.502409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1112.272873 meters looking forward 0.000000 meters along route # Maximum depth: 1112.272873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.272873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.861324; captureRadius = 10; duration = 112; initialDepth = 1055.612479; finalDepth = 1062.272873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.272873 # Seafloor depth:-1112.272873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1105.612479 meters looking forward 0.000000 meters along route # Maximum depth: 1105.612479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.612479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.861984; captureRadius = 10; duration = 112; initialDepth = 1057.349753; finalDepth = 1055.612479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.612479 # Seafloor depth:-1105.612479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.349753 meters looking forward 0.000000 meters along route # Maximum depth: 1107.349753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.349753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.862643; captureRadius = 10; duration = 112; initialDepth = 1059.210652; finalDepth = 1057.349753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.349753 # Seafloor depth:-1107.349753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.210652 meters looking forward 0.000000 meters along route # Maximum depth: 1109.210652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.210652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764909; longitude = -121.863321; captureRadius = 10; duration = 112; initialDepth = 1068.120286; finalDepth = 1059.210652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.210652 # Seafloor depth:-1109.210652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1118.120286 meters looking forward 0.000000 meters along route # Maximum depth: 1118.120286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.120286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.863963; captureRadius = 10; duration = 112; initialDepth = 1060.739484; finalDepth = 1068.120286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.120286 # Seafloor depth:-1118.120286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1110.739484 meters looking forward 0.000000 meters along route # Maximum depth: 1110.739484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.739484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.864623; captureRadius = 10; duration = 112; initialDepth = 1056.459617; finalDepth = 1060.739484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.739484 # Seafloor depth:-1110.739484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1106.459617 meters looking forward 0.000000 meters along route # Maximum depth: 1106.459617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.459617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.865283; captureRadius = 10; duration = 112; initialDepth = 1062.007701; finalDepth = 1056.459617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.459617 # Seafloor depth:-1106.459617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1112.007701 meters looking forward 0.000000 meters along route # Maximum depth: 1112.007701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.007701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.865943; captureRadius = 10; duration = 112; initialDepth = 1057.404753; finalDepth = 1062.007701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.007701 # Seafloor depth:-1112.007701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.404753 meters looking forward 0.000000 meters along route # Maximum depth: 1107.404753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.404753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760741; longitude = -121.866638; captureRadius = 10; duration = 112; initialDepth = 1059.562101; finalDepth = 1057.404753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.404753 # Seafloor depth:-1107.404753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.562101 meters looking forward 0.000000 meters along route # Maximum depth: 1109.562101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.562101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.867263; captureRadius = 10; duration = 112; initialDepth = 1059.349694; finalDepth = 1059.562101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.562101 # Seafloor depth:-1109.562101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.349694 meters looking forward 0.000000 meters along route # Maximum depth: 1109.349694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.349694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.867923; captureRadius = 10; duration = 112; initialDepth = 1060.958786; finalDepth = 1059.349694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.349694 # Seafloor depth:-1109.349694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1110.958786 meters looking forward 0.000000 meters along route # Maximum depth: 1110.958786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.958786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.868583; captureRadius = 10; duration = 112; initialDepth = 1061.981900; finalDepth = 1060.958786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.958786 # Seafloor depth:-1110.958786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1111.981900 meters looking forward 0.000000 meters along route # Maximum depth: 1111.981900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.981900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.869242; captureRadius = 10; duration = 112; initialDepth = 1061.880779; finalDepth = 1061.981900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.9819 # Seafloor depth:-1111.981900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1111.880779 meters looking forward 0.000000 meters along route # Maximum depth: 1111.880779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.880779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756573; longitude = -121.869954; captureRadius = 10; duration = 112; initialDepth = 1057.386239; finalDepth = 1061.880779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.880779 # Seafloor depth:-1111.880779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1107.386239 meters looking forward 0.000000 meters along route # Maximum depth: 1107.386239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.386239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.870562; captureRadius = 10; duration = 112; initialDepth = 1059.098874; finalDepth = 1057.386239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.386239 # Seafloor depth:-1107.386239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.098874 meters looking forward 0.000000 meters along route # Maximum depth: 1109.098874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.098874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.871222; captureRadius = 10; duration = 112; initialDepth = 1061.600756; finalDepth = 1059.098874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.098874 # Seafloor depth:-1109.098874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1111.600756 meters looking forward 0.000000 meters along route # Maximum depth: 1111.600756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.600756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754142; longitude = -121.871889; captureRadius = 10; duration = 112; initialDepth = 1060.343875; finalDepth = 1061.600756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.600756 # Seafloor depth:-1111.600756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1110.343875 meters looking forward 0.000000 meters along route # Maximum depth: 1110.343875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.343875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.872542; captureRadius = 10; duration = 112; initialDepth = 1059.678460; finalDepth = 1060.343875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.343875 # Seafloor depth:-1110.343875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 112.489460 meters # Minimum depth: 1109.678460 meters looking forward 0.000000 meters along route # Maximum depth: 1109.678460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.678460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752405; longitude = -121.873271; captureRadius = 10; duration = 112; initialDepth = 1061.241048; finalDepth = 1059.678460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.67846 # Seafloor depth:-1109.678460 # 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 152 # Segment length 112.489460 meters # Minimum depth: 1111.241048 meters looking forward 0.000000 meters along route # Maximum depth: 1111.241048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.241048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751479; longitude = -121.874008; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1059.910080; finalDepth = 1061.241048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.241048 # Seafloor depth:-1111.241048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1109.910080 meters looking forward 0.000000 meters along route # Maximum depth: 1109.910080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.910080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.874979; captureRadius = 10; duration = 112; initialDepth = 1059.229406; finalDepth = 1059.910080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.91008 # Seafloor depth:-1109.910080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1109.229406 meters looking forward 0.000000 meters along route # Maximum depth: 1109.229406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.229406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.875650; captureRadius = 10; duration = 112; initialDepth = 1056.384667; finalDepth = 1059.229406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.229406 # Seafloor depth:-1109.229406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1106.384667 meters looking forward 0.000000 meters along route # Maximum depth: 1106.384667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.384667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.876322; captureRadius = 10; duration = 112; initialDepth = 1058.455798; finalDepth = 1056.384667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.384667 # Seafloor depth:-1106.384667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1108.455798 meters looking forward 0.000000 meters along route # Maximum depth: 1108.455798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.455798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.876994; captureRadius = 10; duration = 112; initialDepth = 1057.428015; finalDepth = 1058.455798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.455798 # Seafloor depth:-1108.455798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1107.428015 meters looking forward 0.000000 meters along route # Maximum depth: 1107.428015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.428015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746930; longitude = -121.877694; captureRadius = 10; duration = 112; initialDepth = 1060.178476; finalDepth = 1057.428015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.428015 # Seafloor depth:-1107.428015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1110.178476 meters looking forward 0.000000 meters along route # Maximum depth: 1110.178476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.178476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.878337; captureRadius = 10; duration = 112; initialDepth = 1058.971806; finalDepth = 1060.178476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.178476 # Seafloor depth:-1110.178476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1108.971806 meters looking forward 0.000000 meters along route # Maximum depth: 1108.971806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.971806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.879009; captureRadius = 10; duration = 112; initialDepth = 1059.493919; finalDepth = 1058.971806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.971806 # Seafloor depth:-1108.971806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1109.493919 meters looking forward 0.000000 meters along route # Maximum depth: 1109.493919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.493919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.879681; captureRadius = 10; duration = 112; initialDepth = 1061.691741; finalDepth = 1059.493919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.493919 # Seafloor depth:-1109.493919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1111.691741 meters looking forward 0.000000 meters along route # Maximum depth: 1111.691741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.691741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.880353; captureRadius = 10; duration = 112; initialDepth = 1056.879032; finalDepth = 1061.691741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.691741 # Seafloor depth:-1111.691741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1106.879032 meters looking forward 0.000000 meters along route # Maximum depth: 1106.879032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.879032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.881024; captureRadius = 10; duration = 112; initialDepth = 1057.022440; finalDepth = 1056.879032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.879032 # Seafloor depth:-1106.879032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1107.022440 meters looking forward 0.000000 meters along route # Maximum depth: 1107.022440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.022440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.881696; captureRadius = 10; duration = 112; initialDepth = 1066.064063; finalDepth = 1057.022440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.02244 # Seafloor depth:-1107.022440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1116.064063 meters looking forward 0.000000 meters along route # Maximum depth: 1116.064063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.064063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741129; longitude = -121.882393; captureRadius = 10; duration = 112; initialDepth = 1063.770884; finalDepth = 1066.064063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.064063 # Seafloor depth:-1116.064063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1113.770884 meters looking forward 0.000000 meters along route # Maximum depth: 1113.770884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.770884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.883040; captureRadius = 10; duration = 112; initialDepth = 1061.254044; finalDepth = 1063.770884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.770884 # Seafloor depth:-1113.770884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1111.254044 meters looking forward 0.000000 meters along route # Maximum depth: 1111.254044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.254044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.883711; captureRadius = 10; duration = 112; initialDepth = 1055.966913; finalDepth = 1061.254044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.254044 # Seafloor depth:-1111.254044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1105.966913 meters looking forward 0.000000 meters along route # Maximum depth: 1105.966913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.966913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.884383; captureRadius = 10; duration = 112; initialDepth = 1054.967348; finalDepth = 1055.966913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.966913 # Seafloor depth:-1105.966913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1104.967348 meters looking forward 0.000000 meters along route # Maximum depth: 1104.967348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.967348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.885055; captureRadius = 10; duration = 112; initialDepth = 1055.132605; finalDepth = 1054.967348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.967348 # Seafloor depth:-1104.967348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1105.132605 meters looking forward 0.000000 meters along route # Maximum depth: 1105.132605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.132605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.885727; captureRadius = 10; duration = 112; initialDepth = 1056.589826; finalDepth = 1055.132605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.132605 # Seafloor depth:-1105.132605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1106.589826 meters looking forward 0.000000 meters along route # Maximum depth: 1106.589826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.589826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.886398; captureRadius = 10; duration = 112; initialDepth = 1052.399140; finalDepth = 1056.589826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.589826 # Seafloor depth:-1106.589826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1102.399140 meters looking forward 0.000000 meters along route # Maximum depth: 1102.399140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.399140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735329; longitude = -121.887091; captureRadius = 10; duration = 112; initialDepth = 1057.154193; finalDepth = 1052.399140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.39914 # Seafloor depth:-1102.399140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1107.154193 meters looking forward 0.000000 meters along route # Maximum depth: 1107.154193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.154193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.887742; captureRadius = 10; duration = 112; initialDepth = 1052.006487; finalDepth = 1057.154193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.154193 # Seafloor depth:-1107.154193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1102.006487 meters looking forward 0.000000 meters along route # Maximum depth: 1102.006487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.006487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733623; longitude = -121.888473; captureRadius = 10; duration = 112; initialDepth = 1052.551034; finalDepth = 1052.006487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.006487 # Seafloor depth:-1102.006487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1102.551034 meters looking forward 0.000000 meters along route # Maximum depth: 1102.551034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.551034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.889085; captureRadius = 10; duration = 112; initialDepth = 1051.968413; finalDepth = 1052.551034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.551034 # Seafloor depth:-1102.551034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1101.968413 meters looking forward 0.000000 meters along route # Maximum depth: 1101.968413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.968413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.889757; captureRadius = 10; duration = 112; initialDepth = 1052.660571; finalDepth = 1051.968413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.968413 # Seafloor depth:-1101.968413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1102.660571 meters looking forward 0.000000 meters along route # Maximum depth: 1102.660571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.660571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.890429; captureRadius = 10; duration = 112; initialDepth = 1054.815432; finalDepth = 1052.660571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.660571 # Seafloor depth:-1102.660571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1104.815432 meters looking forward 0.000000 meters along route # Maximum depth: 1104.815432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.815432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.891101; captureRadius = 10; duration = 112; initialDepth = 1062.021671; finalDepth = 1054.815432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.815432 # Seafloor depth:-1104.815432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1112.021671 meters looking forward 0.000000 meters along route # Maximum depth: 1112.021671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.021671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729529; longitude = -121.891790; captureRadius = 10; duration = 112; initialDepth = 1055.331210; finalDepth = 1062.021671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.021671 # Seafloor depth:-1112.021671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1105.331210 meters looking forward 0.000000 meters along route # Maximum depth: 1105.331210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.331210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.892444; captureRadius = 10; duration = 112; initialDepth = 1049.262082; finalDepth = 1055.331210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.33121 # Seafloor depth:-1105.331210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1099.262082 meters looking forward 0.000000 meters along route # Maximum depth: 1099.262082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.262082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727823; longitude = -121.893172; captureRadius = 10; duration = 112; initialDepth = 1051.118809; finalDepth = 1049.262082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.262082 # Seafloor depth:-1099.262082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1101.118809 meters looking forward 0.000000 meters along route # Maximum depth: 1101.118809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.118809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.893788; captureRadius = 10; duration = 112; initialDepth = 1049.319572; finalDepth = 1051.118809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.118809 # Seafloor depth:-1101.118809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1099.319572 meters looking forward 0.000000 meters along route # Maximum depth: 1099.319572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.319572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726234; longitude = -121.894459; captureRadius = 10; duration = 112; initialDepth = 1057.983381; finalDepth = 1049.319572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.319572 # Seafloor depth:-1099.319572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 112.489460 meters # Minimum depth: 1107.983381 meters looking forward 0.000000 meters along route # Maximum depth: 1107.983381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.983381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.895131; captureRadius = 10; duration = 112; initialDepth = 1050.353668; finalDepth = 1057.983381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.983381 # Seafloor depth:-1107.983381 # 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 151 # Segment length 112.489460 meters # Minimum depth: 1100.353668 meters looking forward 0.000000 meters along route # Maximum depth: 1100.353668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.353668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724584; longitude = -121.895796; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1049.342663; finalDepth = 1050.353668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.353668 # Seafloor depth:-1100.353668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 112.489460 meters # Minimum depth: 1099.342663 meters looking forward 0.000000 meters along route # Maximum depth: 1099.342663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.342663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.895301; captureRadius = 10; duration = 112; initialDepth = 1042.863764; finalDepth = 1049.342663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.342663 # Seafloor depth:-1099.342663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 112.489460 meters # Minimum depth: 1092.863764 meters looking forward 0.000000 meters along route # Maximum depth: 1092.863764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.863764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723176; longitude = -121.894554; captureRadius = 10; duration = 112; initialDepth = 1044.264301; finalDepth = 1042.863764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.863764 # Seafloor depth:-1092.863764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 112.489460 meters # Minimum depth: 1094.264301 meters looking forward 0.000000 meters along route # Maximum depth: 1094.264301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.264301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.893839; captureRadius = 10; duration = 112; initialDepth = 1041.566476; finalDepth = 1044.264301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.264301 # Seafloor depth:-1094.264301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 112.489460 meters # Minimum depth: 1091.566476 meters looking forward 0.000000 meters along route # Maximum depth: 1091.566476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.566476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.893108; captureRadius = 10; duration = 112; initialDepth = 1037.056616; finalDepth = 1041.566476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.566476 # Seafloor depth:-1091.566476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 112.489460 meters # Minimum depth: 1087.056616 meters looking forward 0.000000 meters along route # Maximum depth: 1087.056616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.056616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720668; longitude = -121.892343; captureRadius = 10; duration = 112; initialDepth = 1038.008453; finalDepth = 1037.056616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.056616 # Seafloor depth:-1087.056616 # 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 150 # Segment length 112.489460 meters # Minimum depth: 1088.008453 meters looking forward 0.000000 meters along route # Maximum depth: 1088.008453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.008453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719730; longitude = -121.891517; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1041.149760; finalDepth = 1038.008453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.008453 # Seafloor depth:-1088.008453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 112.489460 meters # Minimum depth: 1091.149760 meters looking forward 0.000000 meters along route # Maximum depth: 1091.149760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.149760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720772; longitude = -121.893449; captureRadius = 10; duration = 112; initialDepth = 1052.345475; finalDepth = 1041.149760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.14976 # Seafloor depth:-1091.149760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 112.489460 meters # Minimum depth: 1102.345475 meters looking forward 0.000000 meters along route # Maximum depth: 1102.345475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.345475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.894121; captureRadius = 10; duration = 112; initialDepth = 1045.927127; finalDepth = 1052.345475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.345475 # Seafloor depth:-1102.345475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 112.489460 meters # Minimum depth: 1095.927127 meters looking forward 0.000000 meters along route # Maximum depth: 1095.927127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.927127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.894852; captureRadius = 10; duration = 112; initialDepth = 1044.333613; finalDepth = 1045.927127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.927127 # Seafloor depth:-1095.927127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 112.489460 meters # Minimum depth: 1094.333613 meters looking forward 0.000000 meters along route # Maximum depth: 1094.333613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.333613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723281; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1047.760986; finalDepth = 1044.333613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.333613 # Seafloor depth:-1094.333613 # 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 149 # Segment length 112.489460 meters # Minimum depth: 1097.760986 meters looking forward 0.000000 meters along route # Maximum depth: 1097.760986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.760986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724193; longitude = -121.896464; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1045.009942; finalDepth = 1047.760986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.760986 # Seafloor depth:-1097.760986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 112.489460 meters # Minimum depth: 1095.009942 meters looking forward 0.000000 meters along route # Maximum depth: 1095.009942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.009942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.896596; captureRadius = 10; duration = 112; initialDepth = 1043.051582; finalDepth = 1045.009942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.009942 # Seafloor depth:-1095.009942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 112.489460 meters # Minimum depth: 1093.051582 meters looking forward 0.000000 meters along route # Maximum depth: 1093.051582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.051582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.895865; captureRadius = 10; duration = 112; initialDepth = 1050.021440; finalDepth = 1043.051582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.051582 # Seafloor depth:-1093.051582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 112.489460 meters # Minimum depth: 1100.021440 meters looking forward 0.000000 meters along route # Maximum depth: 1100.021440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.021440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721505; longitude = -121.895107; captureRadius = 10; duration = 112; initialDepth = 1045.609173; finalDepth = 1050.021440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.02144 # Seafloor depth:-1100.021440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 112.489460 meters # Minimum depth: 1095.609173 meters looking forward 0.000000 meters along route # Maximum depth: 1095.609173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.609173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.894403; captureRadius = 10; duration = 112; initialDepth = 1038.745292; finalDepth = 1045.609173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.609173 # Seafloor depth:-1095.609173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 112.489460 meters # Minimum depth: 1088.745292 meters looking forward 0.000000 meters along route # Maximum depth: 1088.745292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.745292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.893672; captureRadius = 10; duration = 112; initialDepth = 1035.887573; finalDepth = 1038.745292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.745292 # Seafloor depth:-1088.745292 # 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 148 # Segment length 112.489460 meters # Minimum depth: 1085.887573 meters looking forward 0.000000 meters along route # Maximum depth: 1085.887573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.887573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718947; longitude = -121.892853; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1038.071870; finalDepth = 1035.887573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.887573 # Seafloor depth:-1085.887573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 112.489460 meters # Minimum depth: 1088.071870 meters looking forward 0.000000 meters along route # Maximum depth: 1088.071870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.071870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719414; longitude = -121.894278; captureRadius = 10; duration = 112; initialDepth = 1041.865097; finalDepth = 1038.071870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.07187 # Seafloor depth:-1088.071870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 112.489460 meters # Minimum depth: 1091.865097 meters looking forward 0.000000 meters along route # Maximum depth: 1091.865097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.865097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.894929; captureRadius = 10; duration = 112; initialDepth = 1044.440274; finalDepth = 1041.865097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.865097 # Seafloor depth:-1091.865097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 112.489460 meters # Minimum depth: 1094.440274 meters looking forward 0.000000 meters along route # Maximum depth: 1094.440274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.440274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1042.762602; finalDepth = 1044.440274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.440274 # Seafloor depth:-1094.440274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 112.489460 meters # Minimum depth: 1092.762602 meters looking forward 0.000000 meters along route # Maximum depth: 1092.762602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.762602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.896391; captureRadius = 10; duration = 112; initialDepth = 1044.542337; finalDepth = 1042.762602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.762602 # Seafloor depth:-1092.762602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 112.489460 meters # Minimum depth: 1094.542337 meters looking forward 0.000000 meters along route # Maximum depth: 1094.542337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.542337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.897122; captureRadius = 10; duration = 112; initialDepth = 1045.165985; finalDepth = 1044.542337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.542337 # Seafloor depth:-1094.542337 # 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 147 # Segment length 112.489460 meters # Minimum depth: 1095.165985 meters looking forward 0.000000 meters along route # Maximum depth: 1095.165985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.165985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723410; longitude = -121.897800; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.086018; finalDepth = 1045.165985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.165985 # Seafloor depth:-1095.165985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 112.489460 meters # Minimum depth: 1094.086018 meters looking forward 0.000000 meters along route # Maximum depth: 1094.086018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.086018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722341; longitude = -121.897871; captureRadius = 10; duration = 112; initialDepth = 1042.515363; finalDepth = 1044.086018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.086018 # Seafloor depth:-1094.086018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 112.489460 meters # Minimum depth: 1092.515363 meters looking forward 0.000000 meters along route # Maximum depth: 1092.515363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.515363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.897161; captureRadius = 10; duration = 112; initialDepth = 1041.847887; finalDepth = 1042.515363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.515363 # Seafloor depth:-1092.515363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 112.489460 meters # Minimum depth: 1091.847887 meters looking forward 0.000000 meters along route # Maximum depth: 1091.847887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.847887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.896430; captureRadius = 10; duration = 112; initialDepth = 1039.441782; finalDepth = 1041.847887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.847887 # Seafloor depth:-1091.847887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 112.489460 meters # Minimum depth: 1089.441782 meters looking forward 0.000000 meters along route # Maximum depth: 1089.441782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.441782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719833; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1039.730651; finalDepth = 1039.441782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.441782 # Seafloor depth:-1089.441782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 112.489460 meters # Minimum depth: 1089.730651 meters looking forward 0.000000 meters along route # Maximum depth: 1089.730651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.730651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.894968; captureRadius = 10; duration = 112; initialDepth = 1036.194641; finalDepth = 1039.730651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.730651 # Seafloor depth:-1089.730651 # 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 146 # Segment length 112.489460 meters # Minimum depth: 1086.194641 meters looking forward 0.000000 meters along route # Maximum depth: 1086.194641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.194641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718164; longitude = -121.894189; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1038.948150; finalDepth = 1036.194641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.194641 # Seafloor depth:-1086.194641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 112.489460 meters # Minimum depth: 1088.948150 meters looking forward 0.000000 meters along route # Maximum depth: 1088.948150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.948150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.895494; captureRadius = 10; duration = 112; initialDepth = 1039.361475; finalDepth = 1038.948150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.94815 # Seafloor depth:-1088.948150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 112.489460 meters # Minimum depth: 1089.361475 meters looking forward 0.000000 meters along route # Maximum depth: 1089.361475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.361475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.896225; captureRadius = 10; duration = 112; initialDepth = 1040.933567; finalDepth = 1039.361475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.361475 # Seafloor depth:-1089.361475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 112.489460 meters # Minimum depth: 1090.933567 meters looking forward 0.000000 meters along route # Maximum depth: 1090.933567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.933567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.896955; captureRadius = 10; duration = 112; initialDepth = 1042.710797; finalDepth = 1040.933567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.933567 # Seafloor depth:-1090.933567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 112.489460 meters # Minimum depth: 1092.710797 meters looking forward 0.000000 meters along route # Maximum depth: 1092.710797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.710797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.897686; captureRadius = 10; duration = 112; initialDepth = 1043.032795; finalDepth = 1042.710797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.710797 # Seafloor depth:-1092.710797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 112.489460 meters # Minimum depth: 1093.032795 meters looking forward 0.000000 meters along route # Maximum depth: 1093.032795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.032795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721819; longitude = -121.898424; captureRadius = 10; duration = 112; initialDepth = 1045.562469; finalDepth = 1043.032795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.032795 # Seafloor depth:-1093.032795 # 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 145 # Segment length 112.489460 meters # Minimum depth: 1095.562469 meters looking forward 0.000000 meters along route # Maximum depth: 1095.562469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.562469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722627; longitude = -121.899136; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1046.356994; finalDepth = 1045.562469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.562469 # Seafloor depth:-1095.562469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 112.489460 meters # Minimum depth: 1096.356994 meters looking forward 0.000000 meters along route # Maximum depth: 1096.356994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.356994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.899187; captureRadius = 10; duration = 112; initialDepth = 1042.800379; finalDepth = 1046.356994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.356994 # Seafloor depth:-1096.356994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 112.489460 meters # Minimum depth: 1092.800379 meters looking forward 0.000000 meters along route # Maximum depth: 1092.800379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.800379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720670; longitude = -121.898424; captureRadius = 10; duration = 112; initialDepth = 1043.317282; finalDepth = 1042.800379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.800379 # Seafloor depth:-1092.800379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 112.489460 meters # Minimum depth: 1093.317282 meters looking forward 0.000000 meters along route # Maximum depth: 1093.317282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.317282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.897725; captureRadius = 10; duration = 112; initialDepth = 1041.292260; finalDepth = 1043.317282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.317282 # Seafloor depth:-1093.317282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 112.489460 meters # Minimum depth: 1091.292260 meters looking forward 0.000000 meters along route # Maximum depth: 1091.292260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.292260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.896994; captureRadius = 10; duration = 112; initialDepth = 1037.984306; finalDepth = 1041.292260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.29226 # Seafloor depth:-1091.292260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 112.489460 meters # Minimum depth: 1087.984306 meters looking forward 0.000000 meters along route # Maximum depth: 1087.984306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.984306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718161; longitude = -121.896213; captureRadius = 10; duration = 112; initialDepth = 1036.208740; finalDepth = 1037.984306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.984306 # Seafloor depth:-1087.984306 # 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 144 # Segment length 112.489460 meters # Minimum depth: 1086.208740 meters looking forward 0.000000 meters along route # Maximum depth: 1086.208740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.208740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717381; longitude = -121.895524; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1039.362324; finalDepth = 1036.208740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.20874 # Seafloor depth:-1086.208740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 112.489460 meters # Minimum depth: 1089.362324 meters looking forward 0.000000 meters along route # Maximum depth: 1089.362324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.362324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.896789; captureRadius = 10; duration = 112; initialDepth = 1040.873432; finalDepth = 1039.362324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.362324 # Seafloor depth:-1089.362324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 112.489460 meters # Minimum depth: 1090.873432 meters looking forward 0.000000 meters along route # Maximum depth: 1090.873432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.873432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718580; longitude = -121.897595; captureRadius = 10; duration = 112; initialDepth = 1043.278704; finalDepth = 1040.873432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.873432 # Seafloor depth:-1090.873432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 112.489460 meters # Minimum depth: 1093.278704 meters looking forward 0.000000 meters along route # Maximum depth: 1093.278704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.278704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.898251; captureRadius = 10; duration = 112; initialDepth = 1048.982395; finalDepth = 1043.278704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.278704 # Seafloor depth:-1093.278704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 112.489460 meters # Minimum depth: 1098.982395 meters looking forward 0.000000 meters along route # Maximum depth: 1098.982395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.982395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.898982; captureRadius = 10; duration = 112; initialDepth = 1051.313799; finalDepth = 1048.982395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.982395 # Seafloor depth:-1098.982395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 112.489460 meters # Minimum depth: 1101.313799 meters looking forward 0.000000 meters along route # Maximum depth: 1101.313799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.313799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721088; longitude = -121.899806; captureRadius = 10; duration = 112; initialDepth = 1048.194214; finalDepth = 1051.313799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.313799 # Seafloor depth:-1101.313799 # 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 143 # Segment length 112.489460 meters # Minimum depth: 1098.194214 meters looking forward 0.000000 meters along route # Maximum depth: 1098.194214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.194214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721843; longitude = -121.900472; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1055.582043; finalDepth = 1048.194214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.194214 # Seafloor depth:-1098.194214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 112.489460 meters # Minimum depth: 1105.582043 meters looking forward 0.000000 meters along route # Maximum depth: 1105.582043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.582043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.900482; captureRadius = 10; duration = 112; initialDepth = 1055.035928; finalDepth = 1055.582043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.582043 # Seafloor depth:-1105.582043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 112.489460 meters # Minimum depth: 1105.035928 meters looking forward 0.000000 meters along route # Maximum depth: 1105.035928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.035928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.899751; captureRadius = 10; duration = 112; initialDepth = 1046.090354; finalDepth = 1055.035928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.035928 # Seafloor depth:-1105.035928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 112.489460 meters # Minimum depth: 1096.090354 meters looking forward 0.000000 meters along route # Maximum depth: 1096.090354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.090354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718998; longitude = -121.898977; captureRadius = 10; duration = 112; initialDepth = 1041.965970; finalDepth = 1046.090354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.090354 # Seafloor depth:-1096.090354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 112.489460 meters # Minimum depth: 1091.965970 meters looking forward 0.000000 meters along route # Maximum depth: 1091.965970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.965970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.898289; captureRadius = 10; duration = 112; initialDepth = 1041.988845; finalDepth = 1041.965970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.96597 # Seafloor depth:-1091.965970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 112.489460 meters # Minimum depth: 1091.988845 meters looking forward 0.000000 meters along route # Maximum depth: 1091.988845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.988845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.897558; captureRadius = 10; duration = 112; initialDepth = 1038.465515; finalDepth = 1041.988845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.988845 # Seafloor depth:-1091.988845 # 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 142 # Segment length 112.489460 meters # Minimum depth: 1088.465515 meters looking forward 0.000000 meters along route # Maximum depth: 1088.465515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.465515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716597; longitude = -121.896860; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.161883; finalDepth = 1038.465515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.465515 # Seafloor depth:-1088.465515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 112.489460 meters # Minimum depth: 1094.161883 meters looking forward 0.000000 meters along route # Maximum depth: 1094.161883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.161883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716908; longitude = -121.898148; captureRadius = 10; duration = 112; initialDepth = 1048.623894; finalDepth = 1044.161883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.161883 # Seafloor depth:-1094.161883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 112.489460 meters # Minimum depth: 1098.623894 meters looking forward 0.000000 meters along route # Maximum depth: 1098.623894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.623894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.898815; captureRadius = 10; duration = 112; initialDepth = 1044.066127; finalDepth = 1048.623894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.623894 # Seafloor depth:-1098.623894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 112.489460 meters # Minimum depth: 1094.066127 meters looking forward 0.000000 meters along route # Maximum depth: 1094.066127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.066127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.899546; captureRadius = 10; duration = 112; initialDepth = 1050.972576; finalDepth = 1044.066127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.066127 # Seafloor depth:-1094.066127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 112.489460 meters # Minimum depth: 1100.972576 meters looking forward 0.000000 meters along route # Maximum depth: 1100.972576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.972576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719417; longitude = -121.900359; captureRadius = 10; duration = 112; initialDepth = 1049.796810; finalDepth = 1050.972576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.972576 # Seafloor depth:-1100.972576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 112.489460 meters # Minimum depth: 1099.796810 meters looking forward 0.000000 meters along route # Maximum depth: 1099.796810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.796810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.901008; captureRadius = 10; duration = 112; initialDepth = 1050.906982; finalDepth = 1049.796810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.79681 # Seafloor depth:-1099.796810 # 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 141 # Segment length 112.489460 meters # Minimum depth: 1100.906982 meters looking forward 0.000000 meters along route # Maximum depth: 1100.906982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.906982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721060; longitude = -121.901808; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1045.154073; finalDepth = 1050.906982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.906982 # Seafloor depth:-1100.906982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 112.489460 meters # Minimum depth: 1095.154073 meters looking forward 0.000000 meters along route # Maximum depth: 1095.154073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.154073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719835; longitude = -121.901741; captureRadius = 10; duration = 112; initialDepth = 1048.089334; finalDepth = 1045.154073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.154073 # Seafloor depth:-1095.154073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 112.489460 meters # Minimum depth: 1098.089334 meters looking forward 0.000000 meters along route # Maximum depth: 1098.089334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.089334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.901047; captureRadius = 10; duration = 112; initialDepth = 1044.005854; finalDepth = 1048.089334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.089334 # Seafloor depth:-1098.089334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 112.489460 meters # Minimum depth: 1094.005854 meters looking forward 0.000000 meters along route # Maximum depth: 1094.005854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.005854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.900316; captureRadius = 10; duration = 112; initialDepth = 1043.596062; finalDepth = 1044.005854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.005854 # Seafloor depth:-1094.005854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 112.489460 meters # Minimum depth: 1093.596062 meters looking forward 0.000000 meters along route # Maximum depth: 1093.596062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.596062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717327; longitude = -121.899530; captureRadius = 10; duration = 112; initialDepth = 1044.323696; finalDepth = 1043.596062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.596062 # Seafloor depth:-1093.596062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 112.489460 meters # Minimum depth: 1094.323696 meters looking forward 0.000000 meters along route # Maximum depth: 1094.323696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.323696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.898854; captureRadius = 10; duration = 112; initialDepth = 1039.370483; finalDepth = 1044.323696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.323696 # Seafloor depth:-1094.323696 # 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 140 # Segment length 112.489460 meters # Minimum depth: 1089.370483 meters looking forward 0.000000 meters along route # Maximum depth: 1089.370483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.370483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715814; longitude = -121.898196; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1038.741241; finalDepth = 1039.370483; 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:1039.370483 # Seafloor depth:-1089.370483 # 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 139 # Segment length 112.489460 meters # Minimum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.741241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715455; longitude = -121.899029; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1039.654311; finalDepth = 1038.741241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.741241 # Seafloor depth:-1088.741241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 112.489460 meters # Minimum depth: 1089.654311 meters looking forward 0.000000 meters along route # Maximum depth: 1089.654311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.654311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716295; longitude = -121.897595; captureRadius = 10; duration = 112; initialDepth = 1037.895635; finalDepth = 1039.654311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.654311 # Seafloor depth:-1089.654311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 112.489460 meters # Minimum depth: 1087.895635 meters looking forward 0.000000 meters along route # Maximum depth: 1087.895635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.895635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716836; longitude = -121.896672; captureRadius = 10; duration = 112; initialDepth = 1036.009482; finalDepth = 1037.895635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.895635 # Seafloor depth:-1087.895635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 112.489460 meters # Minimum depth: 1086.009482 meters looking forward 0.000000 meters along route # Maximum depth: 1086.009482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.009482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.895729; captureRadius = 10; duration = 112; initialDepth = 1035.994333; finalDepth = 1036.009482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.009482 # Seafloor depth:-1086.009482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 112.489460 meters # Minimum depth: 1085.994333 meters looking forward 0.000000 meters along route # Maximum depth: 1085.994333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.994333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.894786; captureRadius = 10; duration = 112; initialDepth = 1036.420778; finalDepth = 1035.994333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.994333 # Seafloor depth:-1085.994333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 112.489460 meters # Minimum depth: 1086.420778 meters looking forward 0.000000 meters along route # Maximum depth: 1086.420778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.420778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.893843; captureRadius = 10; duration = 112; initialDepth = 1036.737798; finalDepth = 1036.420778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.420778 # Seafloor depth:-1086.420778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 112.489460 meters # Minimum depth: 1086.737798 meters looking forward 0.000000 meters along route # Maximum depth: 1086.737798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.737798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719050; longitude = -121.892896; captureRadius = 10; duration = 112; initialDepth = 1038.328177; finalDepth = 1036.737798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.737798 # Seafloor depth:-1086.737798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 112.489460 meters # Minimum depth: 1088.328177 meters looking forward 0.000000 meters along route # Maximum depth: 1088.328177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.328177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719698; longitude = -121.891790; captureRadius = 10; duration = 112; initialDepth = 1036.851379; finalDepth = 1038.328177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.328177 # Seafloor depth:-1088.328177 # 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 138 # Segment length 112.489460 meters # Minimum depth: 1086.851379 meters looking forward 0.000000 meters along route # Maximum depth: 1086.851379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.851379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720259; longitude = -121.890834; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1036.077465; finalDepth = 1036.851379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.851379 # Seafloor depth:-1086.851379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 112.489460 meters # Minimum depth: 1086.077465 meters looking forward 0.000000 meters along route # Maximum depth: 1086.077465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.077465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.892432; captureRadius = 10; duration = 112; initialDepth = 1038.420699; finalDepth = 1036.077465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.077465 # Seafloor depth:-1086.077465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 112.489460 meters # Minimum depth: 1088.420699 meters looking forward 0.000000 meters along route # Maximum depth: 1088.420699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.420699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.893375; captureRadius = 10; duration = 112; initialDepth = 1036.788966; finalDepth = 1038.420699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.420699 # Seafloor depth:-1088.420699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 112.489460 meters # Minimum depth: 1086.788966 meters looking forward 0.000000 meters along route # Maximum depth: 1086.788966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.788966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.894318; captureRadius = 10; duration = 112; initialDepth = 1037.704251; finalDepth = 1036.788966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.788966 # Seafloor depth:-1086.788966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 112.489460 meters # Minimum depth: 1087.704251 meters looking forward 0.000000 meters along route # Maximum depth: 1087.704251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.704251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.895261; captureRadius = 10; duration = 112; initialDepth = 1039.505627; finalDepth = 1037.704251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.704251 # Seafloor depth:-1087.704251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 112.489460 meters # Minimum depth: 1089.505627 meters looking forward 0.000000 meters along route # Maximum depth: 1089.505627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.505627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717661; longitude = -121.896213; captureRadius = 10; duration = 112; initialDepth = 1039.419971; finalDepth = 1039.505627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.505627 # Seafloor depth:-1089.505627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 112.489460 meters # Minimum depth: 1089.419971 meters looking forward 0.000000 meters along route # Maximum depth: 1089.419971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.419971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717013; longitude = -121.897318; captureRadius = 10; duration = 112; initialDepth = 1041.376819; finalDepth = 1039.419971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.419971 # Seafloor depth:-1089.419971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 112.489460 meters # Minimum depth: 1091.376819 meters looking forward 0.000000 meters along route # Maximum depth: 1091.376819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.376819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716364; longitude = -121.898424; captureRadius = 10; duration = 112; initialDepth = 1039.724579; finalDepth = 1041.376819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.376819 # Seafloor depth:-1091.376819 # 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 137 # Segment length 112.489460 meters # Minimum depth: 1089.724579 meters looking forward 0.000000 meters along route # Maximum depth: 1089.724579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.724579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715821; longitude = -121.899351; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.987737; finalDepth = 1039.724579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.724579 # Seafloor depth:-1089.724579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 112.489460 meters # Minimum depth: 1094.987737 meters looking forward 0.000000 meters along route # Maximum depth: 1094.987737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.987737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.898094; captureRadius = 10; duration = 112; initialDepth = 1038.971104; finalDepth = 1044.987737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.987737 # Seafloor depth:-1094.987737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 112.489460 meters # Minimum depth: 1088.971104 meters looking forward 0.000000 meters along route # Maximum depth: 1088.971104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.971104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.897151; captureRadius = 10; duration = 112; initialDepth = 1037.765128; finalDepth = 1038.971104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.971104 # Seafloor depth:-1088.971104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 112.489460 meters # Minimum depth: 1087.765128 meters looking forward 0.000000 meters along route # Maximum depth: 1087.765128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.765128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.896208; captureRadius = 10; duration = 112; initialDepth = 1037.243945; finalDepth = 1037.765128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.765128 # Seafloor depth:-1087.765128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 112.489460 meters # Minimum depth: 1087.243945 meters looking forward 0.000000 meters along route # Maximum depth: 1087.243945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.243945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.895265; captureRadius = 10; duration = 112; initialDepth = 1038.019924; finalDepth = 1037.243945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.243945 # Seafloor depth:-1087.243945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 112.489460 meters # Minimum depth: 1088.019924 meters looking forward 0.000000 meters along route # Maximum depth: 1088.019924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.019924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719350; longitude = -121.894278; captureRadius = 10; duration = 112; initialDepth = 1038.421592; finalDepth = 1038.019924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.019924 # Seafloor depth:-1088.019924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 112.489460 meters # Minimum depth: 1088.421592 meters looking forward 0.000000 meters along route # Maximum depth: 1088.421592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.421592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.893379; captureRadius = 10; duration = 112; initialDepth = 1036.852573; finalDepth = 1038.421592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.421592 # Seafloor depth:-1088.421592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 112.489460 meters # Minimum depth: 1086.852573 meters looking forward 0.000000 meters along route # Maximum depth: 1086.852573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.852573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.892436; captureRadius = 10; duration = 112; initialDepth = 1036.813202; finalDepth = 1036.852573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.852573 # Seafloor depth:-1086.852573 # 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 136 # Segment length 112.489460 meters # Minimum depth: 1086.813202 meters looking forward 0.000000 meters along route # Maximum depth: 1086.813202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.813202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720991; longitude = -121.891479; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1040.180491; finalDepth = 1036.813202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.813202 # Seafloor depth:-1086.813202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 112.489460 meters # Minimum depth: 1090.180491 meters looking forward 0.000000 meters along route # Maximum depth: 1090.180491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.180491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.893383; captureRadius = 10; duration = 112; initialDepth = 1039.569398; finalDepth = 1040.180491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.180491 # Seafloor depth:-1090.180491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 112.489460 meters # Minimum depth: 1089.569398 meters looking forward 0.000000 meters along route # Maximum depth: 1089.569398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.569398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.894326; captureRadius = 10; duration = 112; initialDepth = 1039.701631; finalDepth = 1039.569398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.569398 # Seafloor depth:-1089.569398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 112.489460 meters # Minimum depth: 1089.701631 meters looking forward 0.000000 meters along route # Maximum depth: 1089.701631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.701631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.895269; captureRadius = 10; duration = 112; initialDepth = 1039.412268; finalDepth = 1039.701631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.701631 # Seafloor depth:-1089.701631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 112.489460 meters # Minimum depth: 1089.412268 meters looking forward 0.000000 meters along route # Maximum depth: 1089.412268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.412268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.896213; captureRadius = 10; duration = 112; initialDepth = 1039.108842; finalDepth = 1039.412268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.412268 # Seafloor depth:-1089.412268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 112.489460 meters # Minimum depth: 1089.108842 meters looking forward 0.000000 meters along route # Maximum depth: 1089.108842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.108842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.897155; captureRadius = 10; duration = 112; initialDepth = 1044.422024; finalDepth = 1039.108842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.108842 # Seafloor depth:-1089.108842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 112.489460 meters # Minimum depth: 1094.422024 meters looking forward 0.000000 meters along route # Maximum depth: 1094.422024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.422024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.898098; captureRadius = 10; duration = 112; initialDepth = 1046.086245; finalDepth = 1044.422024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.422024 # Seafloor depth:-1094.422024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 112.489460 meters # Minimum depth: 1096.086245 meters looking forward 0.000000 meters along route # Maximum depth: 1096.086245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.086245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.899041; captureRadius = 10; duration = 112; initialDepth = 1041.370178; finalDepth = 1046.086245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.086245 # Seafloor depth:-1096.086245 # 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 135 # Segment length 112.489460 meters # Minimum depth: 1091.370178 meters looking forward 0.000000 meters along route # Maximum depth: 1091.370178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.370178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716553; longitude = -121.899997; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1047.716289; finalDepth = 1041.370178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.370178 # Seafloor depth:-1091.370178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 112.489460 meters # Minimum depth: 1097.716289 meters looking forward 0.000000 meters along route # Maximum depth: 1097.716289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.716289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.899045; captureRadius = 10; duration = 112; initialDepth = 1042.323933; finalDepth = 1047.716289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.716289 # Seafloor depth:-1097.716289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 112.489460 meters # Minimum depth: 1092.323933 meters looking forward 0.000000 meters along route # Maximum depth: 1092.323933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.323933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.898102; captureRadius = 10; duration = 112; initialDepth = 1039.749197; finalDepth = 1042.323933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.323933 # Seafloor depth:-1092.323933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 112.489460 meters # Minimum depth: 1089.749197 meters looking forward 0.000000 meters along route # Maximum depth: 1089.749197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.749197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.897159; captureRadius = 10; duration = 112; initialDepth = 1039.369326; finalDepth = 1039.749197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.749197 # Seafloor depth:-1089.749197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 112.489460 meters # Minimum depth: 1089.369326 meters looking forward 0.000000 meters along route # Maximum depth: 1089.369326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.369326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719326; longitude = -121.896213; captureRadius = 10; duration = 112; initialDepth = 1041.387893; finalDepth = 1039.369326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.369326 # Seafloor depth:-1089.369326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 112.489460 meters # Minimum depth: 1091.387893 meters looking forward 0.000000 meters along route # Maximum depth: 1091.387893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.387893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.895273; captureRadius = 10; duration = 112; initialDepth = 1041.389342; finalDepth = 1041.387893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.387893 # Seafloor depth:-1091.387893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 112.489460 meters # Minimum depth: 1091.389342 meters looking forward 0.000000 meters along route # Maximum depth: 1091.389342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.389342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720460; longitude = -121.894278; captureRadius = 10; duration = 112; initialDepth = 1042.613700; finalDepth = 1041.389342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.389342 # Seafloor depth:-1091.389342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 112.489460 meters # Minimum depth: 1092.613700 meters looking forward 0.000000 meters along route # Maximum depth: 1092.613700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.613700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721108; longitude = -121.893172; captureRadius = 10; duration = 112; initialDepth = 1038.763489; finalDepth = 1042.613700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.6137 # Seafloor depth:-1092.613700 # 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 134 # Segment length 112.489460 meters # Minimum depth: 1088.763489 meters looking forward 0.000000 meters along route # Maximum depth: 1088.763489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.763489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721723; longitude = -121.892124; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1045.837344; finalDepth = 1038.763489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.763489 # Seafloor depth:-1088.763489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 112.489460 meters # Minimum depth: 1095.837344 meters looking forward 0.000000 meters along route # Maximum depth: 1095.837344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.837344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.893863; captureRadius = 10; duration = 112; initialDepth = 1045.967150; finalDepth = 1045.837344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.837344 # Seafloor depth:-1095.837344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 112.489460 meters # Minimum depth: 1095.967150 meters looking forward 0.000000 meters along route # Maximum depth: 1095.967150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.967150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720691; longitude = -121.894831; captureRadius = 10; duration = 112; initialDepth = 1041.124065; finalDepth = 1045.967150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.96715 # Seafloor depth:-1095.967150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 112.489460 meters # Minimum depth: 1091.124065 meters looking forward 0.000000 meters along route # Maximum depth: 1091.124065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.124065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.895749; captureRadius = 10; duration = 112; initialDepth = 1039.830003; finalDepth = 1041.124065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.124065 # Seafloor depth:-1091.124065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 112.489460 meters # Minimum depth: 1089.830003 meters looking forward 0.000000 meters along route # Maximum depth: 1089.830003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.830003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.896692; captureRadius = 10; duration = 112; initialDepth = 1043.256226; finalDepth = 1039.830003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.830003 # Seafloor depth:-1089.830003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 112.489460 meters # Minimum depth: 1093.256226 meters looking forward 0.000000 meters along route # Maximum depth: 1093.256226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.256226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.897635; captureRadius = 10; duration = 112; initialDepth = 1042.359783; finalDepth = 1043.256226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.256226 # Seafloor depth:-1093.256226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 112.489460 meters # Minimum depth: 1092.359783 meters looking forward 0.000000 meters along route # Maximum depth: 1092.359783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.359783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.898578; captureRadius = 10; duration = 112; initialDepth = 1043.495986; finalDepth = 1042.359783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.359783 # Seafloor depth:-1092.359783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 112.489460 meters # Minimum depth: 1093.495986 meters looking forward 0.000000 meters along route # Maximum depth: 1093.495986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.495986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717937; longitude = -121.899530; captureRadius = 10; duration = 112; initialDepth = 1042.948578; finalDepth = 1043.495986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.495986 # Seafloor depth:-1093.495986 # 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 133 # Segment length 112.489460 meters # Minimum depth: 1092.948578 meters looking forward 0.000000 meters along route # Maximum depth: 1092.948578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.948578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717285; longitude = -121.900642; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.077719; finalDepth = 1042.948578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.948578 # Seafloor depth:-1092.948578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 112.489460 meters # Minimum depth: 1094.077719 meters looking forward 0.000000 meters along route # Maximum depth: 1094.077719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.077719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.899525; captureRadius = 10; duration = 112; initialDepth = 1044.954999; finalDepth = 1044.077719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.077719 # Seafloor depth:-1094.077719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 112.489460 meters # Minimum depth: 1094.954999 meters looking forward 0.000000 meters along route # Maximum depth: 1094.954999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.954999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.898582; captureRadius = 10; duration = 112; initialDepth = 1043.519661; finalDepth = 1044.954999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.954999 # Seafloor depth:-1094.954999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 112.489460 meters # Minimum depth: 1093.519661 meters looking forward 0.000000 meters along route # Maximum depth: 1093.519661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.519661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719626; longitude = -121.897595; captureRadius = 10; duration = 112; initialDepth = 1039.259766; finalDepth = 1043.519661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.519661 # Seafloor depth:-1093.519661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 112.489460 meters # Minimum depth: 1089.259766 meters looking forward 0.000000 meters along route # Maximum depth: 1089.259766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.259766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.896696; captureRadius = 10; duration = 112; initialDepth = 1041.286604; finalDepth = 1039.259766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.259766 # Seafloor depth:-1089.259766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 112.489460 meters # Minimum depth: 1091.286604 meters looking forward 0.000000 meters along route # Maximum depth: 1091.286604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.286604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.895753; captureRadius = 10; duration = 112; initialDepth = 1049.496999; finalDepth = 1041.286604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.286604 # Seafloor depth:-1091.286604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 112.489460 meters # Minimum depth: 1099.496999 meters looking forward 0.000000 meters along route # Maximum depth: 1099.496999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.496999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.894810; captureRadius = 10; duration = 112; initialDepth = 1047.551239; finalDepth = 1049.496999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.496999 # Seafloor depth:-1099.496999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 112.489460 meters # Minimum depth: 1097.551239 meters looking forward 0.000000 meters along route # Maximum depth: 1097.551239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.551239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721895; longitude = -121.893725; captureRadius = 10; duration = 112; initialDepth = 1040.229218; finalDepth = 1047.551239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.551239 # Seafloor depth:-1097.551239 # 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 132 # Segment length 112.489460 meters # Minimum depth: 1090.229218 meters looking forward 0.000000 meters along route # Maximum depth: 1090.229218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.229218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722455; longitude = -121.892769; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1052.046997; finalDepth = 1040.229218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.229218 # Seafloor depth:-1090.229218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 112.489460 meters # Minimum depth: 1102.046997 meters looking forward 0.000000 meters along route # Maximum depth: 1102.046997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.046997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.894342; captureRadius = 10; duration = 112; initialDepth = 1046.942719; finalDepth = 1052.046997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.046997 # Seafloor depth:-1102.046997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 112.489460 meters # Minimum depth: 1096.942719 meters looking forward 0.000000 meters along route # Maximum depth: 1096.942719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.942719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.895285; captureRadius = 10; duration = 112; initialDepth = 1044.640356; finalDepth = 1046.942719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.942719 # Seafloor depth:-1096.942719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 112.489460 meters # Minimum depth: 1094.640356 meters looking forward 0.000000 meters along route # Maximum depth: 1094.640356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.640356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.896228; captureRadius = 10; duration = 112; initialDepth = 1042.780885; finalDepth = 1044.640356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.640356 # Seafloor depth:-1094.640356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 112.489460 meters # Minimum depth: 1092.780885 meters looking forward 0.000000 meters along route # Maximum depth: 1092.780885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.780885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.897171; captureRadius = 10; duration = 112; initialDepth = 1042.713139; finalDepth = 1042.780885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.780885 # Seafloor depth:-1092.780885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 112.489460 meters # Minimum depth: 1092.713139 meters looking forward 0.000000 meters along route # Maximum depth: 1092.713139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.713139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719857; longitude = -121.898148; captureRadius = 10; duration = 112; initialDepth = 1046.637178; finalDepth = 1042.713139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.713139 # Seafloor depth:-1092.713139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 112.489460 meters # Minimum depth: 1096.637178 meters looking forward 0.000000 meters along route # Maximum depth: 1096.637178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.637178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719209; longitude = -121.899253; captureRadius = 10; duration = 112; initialDepth = 1046.120574; finalDepth = 1046.637178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.637178 # Seafloor depth:-1096.637178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 112.489460 meters # Minimum depth: 1096.120574 meters looking forward 0.000000 meters along route # Maximum depth: 1096.120574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.120574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718561; longitude = -121.900359; captureRadius = 10; duration = 112; initialDepth = 1043.095764; finalDepth = 1046.120574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.120574 # Seafloor depth:-1096.120574 # 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 131 # Segment length 112.489460 meters # Minimum depth: 1093.095764 meters looking forward 0.000000 meters along route # Maximum depth: 1093.095764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.095764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718017; longitude = -121.901287; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1046.506037; finalDepth = 1043.095764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.095764 # Seafloor depth:-1093.095764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1096.506037 meters looking forward 0.000000 meters along route # Maximum depth: 1096.506037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.506037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718792; longitude = -121.900912; captureRadius = 10; duration = 112; initialDepth = 1049.823192; finalDepth = 1046.506037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.506037 # Seafloor depth:-1096.506037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1099.823192 meters looking forward 0.000000 meters along route # Maximum depth: 1099.823192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.823192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.900004; captureRadius = 10; duration = 112; initialDepth = 1050.512530; finalDepth = 1049.823192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.823192 # Seafloor depth:-1099.823192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1100.512530 meters looking forward 0.000000 meters along route # Maximum depth: 1100.512530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.512530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.899061; captureRadius = 10; duration = 112; initialDepth = 1044.487091; finalDepth = 1050.512530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.51253 # Seafloor depth:-1100.512530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1094.487091 meters looking forward 0.000000 meters along route # Maximum depth: 1094.487091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.487091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.898118; captureRadius = 10; duration = 112; initialDepth = 1044.451414; finalDepth = 1044.487091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.487091 # Seafloor depth:-1094.487091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1094.451414 meters looking forward 0.000000 meters along route # Maximum depth: 1094.451414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.451414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.897175; captureRadius = 10; duration = 112; initialDepth = 1043.289533; finalDepth = 1044.451414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.451414 # Seafloor depth:-1094.451414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1093.289533 meters looking forward 0.000000 meters along route # Maximum depth: 1093.289533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.289533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721547; longitude = -121.896213; captureRadius = 10; duration = 112; initialDepth = 1046.064968; finalDepth = 1043.289533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.289533 # Seafloor depth:-1093.289533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1096.064968 meters looking forward 0.000000 meters along route # Maximum depth: 1096.064968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.064968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.895289; captureRadius = 10; duration = 112; initialDepth = 1043.692053; finalDepth = 1046.064968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.064968 # Seafloor depth:-1096.064968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 112.489460 meters # Minimum depth: 1093.692053 meters looking forward 0.000000 meters along route # Maximum depth: 1093.692053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.692053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.894346; captureRadius = 10; duration = 112; initialDepth = 1042.276154; finalDepth = 1043.692053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.692053 # Seafloor depth:-1093.692053 # 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 130 # Segment length 112.489460 meters # Minimum depth: 1092.276154 meters looking forward 0.000000 meters along route # Maximum depth: 1092.276154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.276154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723187; longitude = -121.893415; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.747764; finalDepth = 1042.276154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.276154 # Seafloor depth:-1092.276154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 112.489460 meters # Minimum depth: 1093.747764 meters looking forward 0.000000 meters along route # Maximum depth: 1093.747764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.747764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.895293; captureRadius = 10; duration = 112; initialDepth = 1043.090395; finalDepth = 1043.747764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.747764 # Seafloor depth:-1093.747764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 112.489460 meters # Minimum depth: 1093.090395 meters looking forward 0.000000 meters along route # Maximum depth: 1093.090395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.090395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.896236; captureRadius = 10; duration = 112; initialDepth = 1042.551117; finalDepth = 1043.090395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.090395 # Seafloor depth:-1093.090395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 112.489460 meters # Minimum depth: 1092.551117 meters looking forward 0.000000 meters along route # Maximum depth: 1092.551117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.551117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.897179; captureRadius = 10; duration = 112; initialDepth = 1044.315057; finalDepth = 1042.551117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.551117 # Seafloor depth:-1092.551117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 112.489460 meters # Minimum depth: 1094.315057 meters looking forward 0.000000 meters along route # Maximum depth: 1094.315057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.315057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720968; longitude = -121.898148; captureRadius = 10; duration = 112; initialDepth = 1051.774806; finalDepth = 1044.315057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.315057 # Seafloor depth:-1094.315057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 112.489460 meters # Minimum depth: 1101.774806 meters looking forward 0.000000 meters along route # Maximum depth: 1101.774806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.774806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.899065; captureRadius = 10; duration = 112; initialDepth = 1054.583597; finalDepth = 1051.774806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.774806 # Seafloor depth:-1101.774806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 112.489460 meters # Minimum depth: 1104.583597 meters looking forward 0.000000 meters along route # Maximum depth: 1104.583597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.583597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.900008; captureRadius = 10; duration = 112; initialDepth = 1047.593932; finalDepth = 1054.583597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.583597 # Seafloor depth:-1104.583597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 112.489460 meters # Minimum depth: 1097.593932 meters looking forward 0.000000 meters along route # Maximum depth: 1097.593932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.593932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.900951; captureRadius = 10; duration = 112; initialDepth = 1043.453827; finalDepth = 1047.593932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.593932 # Seafloor depth:-1097.593932 # 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 129 # Segment length 112.489460 meters # Minimum depth: 1093.453827 meters looking forward 0.000000 meters along route # Maximum depth: 1093.453827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.453827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718749; longitude = -121.901932; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1053.368330; finalDepth = 1043.453827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.453827 # Seafloor depth:-1093.453827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 112.489460 meters # Minimum depth: 1103.368330 meters looking forward 0.000000 meters along route # Maximum depth: 1103.368330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.368330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719902; longitude = -121.900912; captureRadius = 10; duration = 112; initialDepth = 1059.873199; finalDepth = 1053.368330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.36833 # Seafloor depth:-1103.368330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 112.489460 meters # Minimum depth: 1109.873199 meters looking forward 0.000000 meters along route # Maximum depth: 1109.873199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.873199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.900012; captureRadius = 10; duration = 112; initialDepth = 1047.556140; finalDepth = 1059.873199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.873199 # Seafloor depth:-1109.873199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 112.489460 meters # Minimum depth: 1097.556140 meters looking forward 0.000000 meters along route # Maximum depth: 1097.556140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.556140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.899069; captureRadius = 10; duration = 112; initialDepth = 1043.989276; finalDepth = 1047.556140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.55614 # Seafloor depth:-1097.556140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 112.489460 meters # Minimum depth: 1093.989276 meters looking forward 0.000000 meters along route # Maximum depth: 1093.989276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.989276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.898126; captureRadius = 10; duration = 112; initialDepth = 1042.906342; finalDepth = 1043.989276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.989276 # Seafloor depth:-1093.989276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 112.489460 meters # Minimum depth: 1092.906342 meters looking forward 0.000000 meters along route # Maximum depth: 1092.906342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.906342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.897183; captureRadius = 10; duration = 112; initialDepth = 1044.493250; finalDepth = 1042.906342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.906342 # Seafloor depth:-1092.906342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 112.489460 meters # Minimum depth: 1094.493250 meters looking forward 0.000000 meters along route # Maximum depth: 1094.493250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.493250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722657; longitude = -121.896213; captureRadius = 10; duration = 112; initialDepth = 1044.335022; finalDepth = 1044.493250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.49325 # Seafloor depth:-1094.493250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 112.489460 meters # Minimum depth: 1094.335022 meters looking forward 0.000000 meters along route # Maximum depth: 1094.335022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.335022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723305; longitude = -121.895107; captureRadius = 10; duration = 112; initialDepth = 1044.607269; finalDepth = 1044.335022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.335022 # Seafloor depth:-1094.335022 # 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 128 # Segment length 112.489460 meters # Minimum depth: 1094.607269 meters looking forward 0.000000 meters along route # Maximum depth: 1094.607269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.607269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723919; longitude = -121.894060; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.727261; finalDepth = 1044.607269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.607269 # Seafloor depth:-1094.607269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 112.489460 meters # Minimum depth: 1094.727261 meters looking forward 0.000000 meters along route # Maximum depth: 1094.727261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.727261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.895773; captureRadius = 10; duration = 112; initialDepth = 1043.833869; finalDepth = 1044.727261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.727261 # Seafloor depth:-1094.727261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 112.489460 meters # Minimum depth: 1093.833869 meters looking forward 0.000000 meters along route # Maximum depth: 1093.833869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.833869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.896716; captureRadius = 10; duration = 112; initialDepth = 1042.872663; finalDepth = 1043.833869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.833869 # Seafloor depth:-1093.833869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 112.489460 meters # Minimum depth: 1092.872663 meters looking forward 0.000000 meters along route # Maximum depth: 1092.872663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.872663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.897659; captureRadius = 10; duration = 112; initialDepth = 1044.645972; finalDepth = 1042.872663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.872663 # Seafloor depth:-1092.872663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 112.489460 meters # Minimum depth: 1094.645972 meters looking forward 0.000000 meters along route # Maximum depth: 1094.645972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.645972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.898602; captureRadius = 10; duration = 112; initialDepth = 1047.184228; finalDepth = 1044.645972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.645972 # Seafloor depth:-1094.645972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 112.489460 meters # Minimum depth: 1097.184228 meters looking forward 0.000000 meters along route # Maximum depth: 1097.184228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.184228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.899545; captureRadius = 10; duration = 112; initialDepth = 1055.505026; finalDepth = 1047.184228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.184228 # Seafloor depth:-1097.184228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 112.489460 meters # Minimum depth: 1105.505026 meters looking forward 0.000000 meters along route # Maximum depth: 1105.505026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.505026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.900488; captureRadius = 10; duration = 112; initialDepth = 1049.546941; finalDepth = 1055.505026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.505026 # Seafloor depth:-1105.505026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 112.489460 meters # Minimum depth: 1099.546941 meters looking forward 0.000000 meters along route # Maximum depth: 1099.546941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.546941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720133; longitude = -121.901464; captureRadius = 10; duration = 112; initialDepth = 1045.645538; finalDepth = 1049.546941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.546941 # Seafloor depth:-1099.546941 # 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 127 # Segment length 112.489460 meters # Minimum depth: 1095.645538 meters looking forward 0.000000 meters along route # Maximum depth: 1095.645538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.645538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719481; longitude = -121.902578; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.032780; finalDepth = 1045.645538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.645538 # Seafloor depth:-1095.645538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 112.489460 meters # Minimum depth: 1098.032780 meters looking forward 0.000000 meters along route # Maximum depth: 1098.032780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.032780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.901435; captureRadius = 10; duration = 112; initialDepth = 1048.908507; finalDepth = 1048.032780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.03278 # Seafloor depth:-1098.032780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 112.489460 meters # Minimum depth: 1098.908507 meters looking forward 0.000000 meters along route # Maximum depth: 1098.908507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.908507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.900492; captureRadius = 10; duration = 112; initialDepth = 1041.873631; finalDepth = 1048.908507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.908507 # Seafloor depth:-1098.908507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 112.489460 meters # Minimum depth: 1091.873631 meters looking forward 0.000000 meters along route # Maximum depth: 1091.873631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.873631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721823; longitude = -121.899530; captureRadius = 10; duration = 112; initialDepth = 1045.563691; finalDepth = 1041.873631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.873631 # Seafloor depth:-1091.873631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 112.489460 meters # Minimum depth: 1095.563691 meters looking forward 0.000000 meters along route # Maximum depth: 1095.563691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.563691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.898606; captureRadius = 10; duration = 112; initialDepth = 1043.892116; finalDepth = 1045.563691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.563691 # Seafloor depth:-1095.563691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 112.489460 meters # Minimum depth: 1093.892116 meters looking forward 0.000000 meters along route # Maximum depth: 1093.892116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.892116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.897663; captureRadius = 10; duration = 112; initialDepth = 1046.017817; finalDepth = 1043.892116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.892116 # Seafloor depth:-1093.892116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 112.489460 meters # Minimum depth: 1096.017817 meters looking forward 0.000000 meters along route # Maximum depth: 1096.017817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.017817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.896720; captureRadius = 10; duration = 112; initialDepth = 1049.039193; finalDepth = 1046.017817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.017817 # Seafloor depth:-1096.017817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 112.489460 meters # Minimum depth: 1099.039193 meters looking forward 0.000000 meters along route # Maximum depth: 1099.039193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.039193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724091; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1049.590424; finalDepth = 1049.039193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.039193 # Seafloor depth:-1099.039193 # 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 126 # Segment length 112.489460 meters # Minimum depth: 1099.590424 meters looking forward 0.000000 meters along route # Maximum depth: 1099.590424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.590424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724651; longitude = -121.894705; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.911469; finalDepth = 1049.590424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.590424 # Seafloor depth:-1099.590424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 112.489460 meters # Minimum depth: 1093.911469 meters looking forward 0.000000 meters along route # Maximum depth: 1093.911469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.911469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.893915; captureRadius = 10; duration = 112; initialDepth = 1041.865148; finalDepth = 1043.911469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.911469 # Seafloor depth:-1093.911469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 112.489460 meters # Minimum depth: 1091.865148 meters looking forward 0.000000 meters along route # Maximum depth: 1091.865148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.865148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722897; longitude = -121.893172; captureRadius = 10; duration = 112; initialDepth = 1038.211594; finalDepth = 1041.865148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.865148 # Seafloor depth:-1091.865148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 112.489460 meters # Minimum depth: 1088.211594 meters looking forward 0.000000 meters along route # Maximum depth: 1088.211594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.211594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.892466; captureRadius = 10; duration = 112; initialDepth = 1037.226551; finalDepth = 1038.211594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.211594 # Seafloor depth:-1088.211594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 112.489460 meters # Minimum depth: 1087.226551 meters looking forward 0.000000 meters along route # Maximum depth: 1087.226551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.226551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.891742; captureRadius = 10; duration = 112; initialDepth = 1036.851379; finalDepth = 1037.226551; 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:1037.226551 # Seafloor depth:-1087.226551 # 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 125 # Segment length 112.489460 meters # Minimum depth: 1086.851379 meters looking forward 0.000000 meters along route # Maximum depth: 1086.851379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.851379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720319; longitude = -121.890921; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1036.511985; finalDepth = 1036.851379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.851379 # Seafloor depth:-1086.851379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 112.489460 meters # Minimum depth: 1086.511985 meters looking forward 0.000000 meters along route # Maximum depth: 1086.511985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.511985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.892146; captureRadius = 10; duration = 112; initialDepth = 1035.274271; finalDepth = 1036.511985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.511985 # Seafloor depth:-1086.511985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 112.489460 meters # Minimum depth: 1085.274271 meters looking forward 0.000000 meters along route # Maximum depth: 1085.274271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.274271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.893089; captureRadius = 10; duration = 112; initialDepth = 1035.852344; finalDepth = 1035.274271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.274271 # Seafloor depth:-1085.274271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 112.489460 meters # Minimum depth: 1085.852344 meters looking forward 0.000000 meters along route # Maximum depth: 1085.852344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.852344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.894032; captureRadius = 10; duration = 112; initialDepth = 1036.486715; finalDepth = 1035.852344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.852344 # Seafloor depth:-1085.852344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 112.489460 meters # Minimum depth: 1086.486715 meters looking forward 0.000000 meters along route # Maximum depth: 1086.486715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.486715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.894975; captureRadius = 10; duration = 112; initialDepth = 1037.279528; finalDepth = 1036.486715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.486715 # Seafloor depth:-1086.486715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 112.489460 meters # Minimum depth: 1087.279528 meters looking forward 0.000000 meters along route # Maximum depth: 1087.279528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.279528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717379; longitude = -121.895936; captureRadius = 10; duration = 112; initialDepth = 1038.710393; finalDepth = 1037.279528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.279528 # Seafloor depth:-1087.279528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 112.489460 meters # Minimum depth: 1088.710393 meters looking forward 0.000000 meters along route # Maximum depth: 1088.710393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.710393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716730; longitude = -121.897042; captureRadius = 10; duration = 112; initialDepth = 1039.801179; finalDepth = 1038.710393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.710393 # Seafloor depth:-1088.710393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 112.489460 meters # Minimum depth: 1089.801179 meters looking forward 0.000000 meters along route # Maximum depth: 1089.801179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.801179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716082; longitude = -121.898148; captureRadius = 10; duration = 112; initialDepth = 1038.741241; finalDepth = 1039.801179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.801179 # Seafloor depth:-1089.801179 # 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 124 # Segment length 112.489460 meters # Minimum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.741241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715541; longitude = -121.899071; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1042.554135; finalDepth = 1038.741241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.741241 # Seafloor depth:-1088.741241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 112.489460 meters # Minimum depth: 1092.554135 meters looking forward 0.000000 meters along route # Maximum depth: 1092.554135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.554135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716836; longitude = -121.897808; captureRadius = 10; duration = 112; initialDepth = 1038.590981; finalDepth = 1042.554135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.554135 # Seafloor depth:-1092.554135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 112.489460 meters # Minimum depth: 1088.590981 meters looking forward 0.000000 meters along route # Maximum depth: 1088.590981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.590981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.896865; captureRadius = 10; duration = 112; initialDepth = 1038.696494; finalDepth = 1038.590981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.590981 # Seafloor depth:-1088.590981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 112.489460 meters # Minimum depth: 1088.696494 meters looking forward 0.000000 meters along route # Maximum depth: 1088.696494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.696494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.895922; captureRadius = 10; duration = 112; initialDepth = 1036.218975; finalDepth = 1038.696494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.696494 # Seafloor depth:-1088.696494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 112.489460 meters # Minimum depth: 1086.218975 meters looking forward 0.000000 meters along route # Maximum depth: 1086.218975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.218975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.894979; captureRadius = 10; duration = 112; initialDepth = 1037.506684; finalDepth = 1036.218975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.218975 # Seafloor depth:-1086.218975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 112.489460 meters # Minimum depth: 1087.506684 meters looking forward 0.000000 meters along route # Maximum depth: 1087.506684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.506684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719068; longitude = -121.894002; captureRadius = 10; duration = 112; initialDepth = 1036.067426; finalDepth = 1037.506684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.506684 # Seafloor depth:-1087.506684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 112.489460 meters # Minimum depth: 1086.067426 meters looking forward 0.000000 meters along route # Maximum depth: 1086.067426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.067426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.893093; captureRadius = 10; duration = 112; initialDepth = 1036.248855; finalDepth = 1036.067426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.067426 # Seafloor depth:-1086.067426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 112.489460 meters # Minimum depth: 1086.248855 meters looking forward 0.000000 meters along route # Maximum depth: 1086.248855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.248855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.892150; captureRadius = 10; duration = 112; initialDepth = 1036.811127; finalDepth = 1036.248855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.248855 # Seafloor depth:-1086.248855 # 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 123 # Segment length 112.489460 meters # Minimum depth: 1086.811127 meters looking forward 0.000000 meters along route # Maximum depth: 1086.811127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.811127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720685; longitude = -121.891243; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1038.518854; finalDepth = 1036.811127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.811127 # Seafloor depth:-1086.811127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 112.489460 meters # Minimum depth: 1088.518854 meters looking forward 0.000000 meters along route # Maximum depth: 1088.518854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.518854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.893097; captureRadius = 10; duration = 112; initialDepth = 1038.650470; finalDepth = 1038.518854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.518854 # Seafloor depth:-1088.518854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 112.489460 meters # Minimum depth: 1088.650470 meters looking forward 0.000000 meters along route # Maximum depth: 1088.650470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.650470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.894040; captureRadius = 10; duration = 112; initialDepth = 1039.865962; finalDepth = 1038.650470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.65047 # Seafloor depth:-1088.650470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 112.489460 meters # Minimum depth: 1089.865962 meters looking forward 0.000000 meters along route # Maximum depth: 1089.865962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.865962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.894983; captureRadius = 10; duration = 112; initialDepth = 1039.076769; finalDepth = 1039.865962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.865962 # Seafloor depth:-1089.865962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 112.489460 meters # Minimum depth: 1089.076769 meters looking forward 0.000000 meters along route # Maximum depth: 1089.076769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.076769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718489; longitude = -121.895936; captureRadius = 10; duration = 112; initialDepth = 1038.251537; finalDepth = 1039.076769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.076769 # Seafloor depth:-1089.076769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 112.489460 meters # Minimum depth: 1088.251537 meters looking forward 0.000000 meters along route # Maximum depth: 1088.251537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.251537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.896869; captureRadius = 10; duration = 112; initialDepth = 1042.573195; finalDepth = 1038.251537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.251537 # Seafloor depth:-1088.251537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 112.489460 meters # Minimum depth: 1092.573195 meters looking forward 0.000000 meters along route # Maximum depth: 1092.573195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.573195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.897812; captureRadius = 10; duration = 112; initialDepth = 1044.395494; finalDepth = 1042.573195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.573195 # Seafloor depth:-1092.573195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 112.489460 meters # Minimum depth: 1094.395494 meters looking forward 0.000000 meters along route # Maximum depth: 1094.395494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.395494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716836; longitude = -121.898755; captureRadius = 10; duration = 112; initialDepth = 1041.168945; finalDepth = 1044.395494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.395494 # Seafloor depth:-1094.395494 # 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 122 # Segment length 112.489460 meters # Minimum depth: 1091.168945 meters looking forward 0.000000 meters along route # Maximum depth: 1091.168945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.168945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716273; longitude = -121.899716; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1051.590333; finalDepth = 1041.168945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.168945 # Seafloor depth:-1091.168945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 112.489460 meters # Minimum depth: 1101.590333 meters looking forward 0.000000 meters along route # Maximum depth: 1101.590333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.590333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.898759; captureRadius = 10; duration = 112; initialDepth = 1041.539819; finalDepth = 1051.590333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.590333 # Seafloor depth:-1101.590333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 112.489460 meters # Minimum depth: 1091.539819 meters looking forward 0.000000 meters along route # Maximum depth: 1091.539819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.539819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.897816; captureRadius = 10; duration = 112; initialDepth = 1040.274900; finalDepth = 1041.539819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.539819 # Seafloor depth:-1091.539819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 112.489460 meters # Minimum depth: 1090.274900 meters looking forward 0.000000 meters along route # Maximum depth: 1090.274900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.274900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.896873; captureRadius = 10; duration = 112; initialDepth = 1038.217983; finalDepth = 1040.274900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.2749 # Seafloor depth:-1090.274900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 112.489460 meters # Minimum depth: 1088.217983 meters looking forward 0.000000 meters along route # Maximum depth: 1088.217983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.217983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.895930; captureRadius = 10; duration = 112; initialDepth = 1039.127110; finalDepth = 1038.217983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.217983 # Seafloor depth:-1088.217983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 112.489460 meters # Minimum depth: 1089.127110 meters looking forward 0.000000 meters along route # Maximum depth: 1089.127110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.127110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.894987; captureRadius = 10; duration = 112; initialDepth = 1039.877780; finalDepth = 1039.127110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.12711 # Seafloor depth:-1089.127110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 112.489460 meters # Minimum depth: 1089.877780 meters looking forward 0.000000 meters along route # Maximum depth: 1089.877780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.877780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720178; longitude = -121.894002; captureRadius = 10; duration = 112; initialDepth = 1041.371052; finalDepth = 1039.877780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.87778 # Seafloor depth:-1089.877780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 112.489460 meters # Minimum depth: 1091.371052 meters looking forward 0.000000 meters along route # Maximum depth: 1091.371052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.371052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720826; longitude = -121.892896; captureRadius = 10; duration = 112; initialDepth = 1037.792023; finalDepth = 1041.371052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.371052 # Seafloor depth:-1091.371052 # 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 121 # Segment length 112.489460 meters # Minimum depth: 1087.792023 meters looking forward 0.000000 meters along route # Maximum depth: 1087.792023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.792023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721417; longitude = -121.891888; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.576130; finalDepth = 1037.792023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.792023 # Seafloor depth:-1087.792023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 112.489460 meters # Minimum depth: 1094.576130 meters looking forward 0.000000 meters along route # Maximum depth: 1094.576130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.576130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.893577; captureRadius = 10; duration = 112; initialDepth = 1043.084834; finalDepth = 1044.576130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.57613 # Seafloor depth:-1094.576130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 112.489460 meters # Minimum depth: 1093.084834 meters looking forward 0.000000 meters along route # Maximum depth: 1093.084834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.084834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720409; longitude = -121.894554; captureRadius = 10; duration = 112; initialDepth = 1040.455508; finalDepth = 1043.084834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.084834 # Seafloor depth:-1093.084834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 112.489460 meters # Minimum depth: 1090.455508 meters looking forward 0.000000 meters along route # Maximum depth: 1090.455508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.455508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.895463; captureRadius = 10; duration = 112; initialDepth = 1039.220451; finalDepth = 1040.455508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.455508 # Seafloor depth:-1090.455508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 112.489460 meters # Minimum depth: 1089.220451 meters looking forward 0.000000 meters along route # Maximum depth: 1089.220451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.220451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.896406; captureRadius = 10; duration = 112; initialDepth = 1040.174739; finalDepth = 1039.220451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.220451 # Seafloor depth:-1089.220451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 112.489460 meters # Minimum depth: 1090.174739 meters looking forward 0.000000 meters along route # Maximum depth: 1090.174739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.174739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.897349; captureRadius = 10; duration = 112; initialDepth = 1041.956675; finalDepth = 1040.174739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.174739 # Seafloor depth:-1090.174739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 112.489460 meters # Minimum depth: 1091.956675 meters looking forward 0.000000 meters along route # Maximum depth: 1091.956675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.956675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.898292; captureRadius = 10; duration = 112; initialDepth = 1046.736479; finalDepth = 1041.956675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.956675 # Seafloor depth:-1091.956675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 112.489460 meters # Minimum depth: 1096.736479 meters looking forward 0.000000 meters along route # Maximum depth: 1096.736479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.736479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717655; longitude = -121.899253; captureRadius = 10; duration = 112; initialDepth = 1042.835815; finalDepth = 1046.736479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.736479 # Seafloor depth:-1096.736479 # 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 120 # Segment length 112.489460 meters # Minimum depth: 1092.835815 meters looking forward 0.000000 meters along route # Maximum depth: 1092.835815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.835815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717005; longitude = -121.900361; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.444140; finalDepth = 1042.835815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.835815 # Seafloor depth:-1092.835815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 112.489460 meters # Minimum depth: 1093.444140 meters looking forward 0.000000 meters along route # Maximum depth: 1093.444140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.444140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.899239; captureRadius = 10; duration = 112; initialDepth = 1042.502558; finalDepth = 1043.444140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.44414 # Seafloor depth:-1093.444140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 112.489460 meters # Minimum depth: 1092.502558 meters looking forward 0.000000 meters along route # Maximum depth: 1092.502558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.502558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.898296; captureRadius = 10; duration = 112; initialDepth = 1043.398736; finalDepth = 1042.502558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.502558 # Seafloor depth:-1092.502558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 112.489460 meters # Minimum depth: 1093.398736 meters looking forward 0.000000 meters along route # Maximum depth: 1093.398736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.398736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719344; longitude = -121.897318; captureRadius = 10; duration = 112; initialDepth = 1040.769648; finalDepth = 1043.398736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.398736 # Seafloor depth:-1093.398736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 112.489460 meters # Minimum depth: 1090.769648 meters looking forward 0.000000 meters along route # Maximum depth: 1090.769648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.769648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.896410; captureRadius = 10; duration = 112; initialDepth = 1042.883188; finalDepth = 1040.769648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.769648 # Seafloor depth:-1090.769648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 112.489460 meters # Minimum depth: 1092.883188 meters looking forward 0.000000 meters along route # Maximum depth: 1092.883188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.883188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.895467; captureRadius = 10; duration = 112; initialDepth = 1047.357693; finalDepth = 1042.883188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.883188 # Seafloor depth:-1092.883188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 112.489460 meters # Minimum depth: 1097.357693 meters looking forward 0.000000 meters along route # Maximum depth: 1097.357693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.357693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.894524; captureRadius = 10; duration = 112; initialDepth = 1045.571654; finalDepth = 1047.357693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.357693 # Seafloor depth:-1097.357693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 112.489460 meters # Minimum depth: 1095.571654 meters looking forward 0.000000 meters along route # Maximum depth: 1095.571654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.571654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721613; longitude = -121.893449; captureRadius = 10; duration = 112; initialDepth = 1038.996429; finalDepth = 1045.571654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.571654 # Seafloor depth:-1095.571654 # 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 119 # Segment length 112.489460 meters # Minimum depth: 1088.996429 meters looking forward 0.000000 meters along route # Maximum depth: 1088.996429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.996429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722149; longitude = -121.892534; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1049.941808; finalDepth = 1038.996429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.996429 # Seafloor depth:-1088.996429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 112.489460 meters # Minimum depth: 1099.941808 meters looking forward 0.000000 meters along route # Maximum depth: 1099.941808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.941808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.894056; captureRadius = 10; duration = 112; initialDepth = 1049.766584; finalDepth = 1049.941808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.941808 # Seafloor depth:-1099.941808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 112.489460 meters # Minimum depth: 1099.766584 meters looking forward 0.000000 meters along route # Maximum depth: 1099.766584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.766584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.894999; captureRadius = 10; duration = 112; initialDepth = 1039.775350; finalDepth = 1049.766584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.766584 # Seafloor depth:-1099.766584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 112.489460 meters # Minimum depth: 1089.775350 meters looking forward 0.000000 meters along route # Maximum depth: 1089.775350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.775350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.895942; captureRadius = 10; duration = 112; initialDepth = 1040.157312; finalDepth = 1039.775350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.77535 # Seafloor depth:-1089.775350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 112.489460 meters # Minimum depth: 1090.157312 meters looking forward 0.000000 meters along route # Maximum depth: 1090.157312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.157312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.896885; captureRadius = 10; duration = 112; initialDepth = 1043.508913; finalDepth = 1040.157312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.157312 # Seafloor depth:-1090.157312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 112.489460 meters # Minimum depth: 1093.508913 meters looking forward 0.000000 meters along route # Maximum depth: 1093.508913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.508913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719575; longitude = -121.897871; captureRadius = 10; duration = 112; initialDepth = 1045.667279; finalDepth = 1043.508913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.508913 # Seafloor depth:-1093.508913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 112.489460 meters # Minimum depth: 1095.667279 meters looking forward 0.000000 meters along route # Maximum depth: 1095.667279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.667279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718927; longitude = -121.898977; captureRadius = 10; duration = 112; initialDepth = 1043.685784; finalDepth = 1045.667279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.667279 # Seafloor depth:-1095.667279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 112.489460 meters # Minimum depth: 1093.685784 meters looking forward 0.000000 meters along route # Maximum depth: 1093.685784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.685784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718279; longitude = -121.900082; captureRadius = 10; duration = 112; initialDepth = 1042.605469; finalDepth = 1043.685784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.685784 # Seafloor depth:-1093.685784 # 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 118 # Segment length 112.489460 meters # Minimum depth: 1092.605469 meters looking forward 0.000000 meters along route # Maximum depth: 1092.605469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.605469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717737; longitude = -121.901007; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1045.651141; finalDepth = 1042.605469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.605469 # Seafloor depth:-1092.605469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 112.489460 meters # Minimum depth: 1095.651141 meters looking forward 0.000000 meters along route # Maximum depth: 1095.651141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.651141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.900190; captureRadius = 10; duration = 112; initialDepth = 1047.221515; finalDepth = 1045.651141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.651141 # Seafloor depth:-1095.651141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 112.489460 meters # Minimum depth: 1097.221515 meters looking forward 0.000000 meters along route # Maximum depth: 1097.221515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.221515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.899247; captureRadius = 10; duration = 112; initialDepth = 1043.614166; finalDepth = 1047.221515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.221515 # Seafloor depth:-1097.221515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 112.489460 meters # Minimum depth: 1093.614166 meters looking forward 0.000000 meters along route # Maximum depth: 1093.614166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.614166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.898304; captureRadius = 10; duration = 112; initialDepth = 1042.898250; finalDepth = 1043.614166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.614166 # Seafloor depth:-1093.614166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 112.489460 meters # Minimum depth: 1092.898250 meters looking forward 0.000000 meters along route # Maximum depth: 1092.898250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.898250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720454; longitude = -121.897318; captureRadius = 10; duration = 112; initialDepth = 1043.197512; finalDepth = 1042.898250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.89825 # Seafloor depth:-1092.898250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 112.489460 meters # Minimum depth: 1093.197512 meters looking forward 0.000000 meters along route # Maximum depth: 1093.197512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.197512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.896418; captureRadius = 10; duration = 112; initialDepth = 1045.417986; finalDepth = 1043.197512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.197512 # Seafloor depth:-1093.197512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 112.489460 meters # Minimum depth: 1095.417986 meters looking forward 0.000000 meters along route # Maximum depth: 1095.417986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.417986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721589; longitude = -121.895384; captureRadius = 10; duration = 112; initialDepth = 1049.538587; finalDepth = 1045.417986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.417986 # Seafloor depth:-1095.417986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 112.489460 meters # Minimum depth: 1099.538587 meters looking forward 0.000000 meters along route # Maximum depth: 1099.538587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.538587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722237; longitude = -121.894278; captureRadius = 10; duration = 112; initialDepth = 1042.630615; finalDepth = 1049.538587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.538587 # Seafloor depth:-1099.538587 # 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 117 # Segment length 112.489460 meters # Minimum depth: 1092.630615 meters looking forward 0.000000 meters along route # Maximum depth: 1092.630615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.630615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722881; longitude = -121.893179; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.877607; finalDepth = 1042.630615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.630615 # Seafloor depth:-1092.630615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 112.489460 meters # Minimum depth: 1094.877607 meters looking forward 0.000000 meters along route # Maximum depth: 1094.877607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.877607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.895007; captureRadius = 10; duration = 112; initialDepth = 1044.293936; finalDepth = 1044.877607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.877607 # Seafloor depth:-1094.877607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 112.489460 meters # Minimum depth: 1094.293936 meters looking forward 0.000000 meters along route # Maximum depth: 1094.293936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.293936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.895950; captureRadius = 10; duration = 112; initialDepth = 1042.247568; finalDepth = 1044.293936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.293936 # Seafloor depth:-1094.293936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 112.489460 meters # Minimum depth: 1092.247568 meters looking forward 0.000000 meters along route # Maximum depth: 1092.247568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.247568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.896893; captureRadius = 10; duration = 112; initialDepth = 1043.239900; finalDepth = 1042.247568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.247568 # Seafloor depth:-1092.247568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 112.489460 meters # Minimum depth: 1093.239900 meters looking forward 0.000000 meters along route # Maximum depth: 1093.239900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.239900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720685; longitude = -121.897871; captureRadius = 10; duration = 112; initialDepth = 1047.565989; finalDepth = 1043.239900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.2399 # Seafloor depth:-1093.239900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 112.489460 meters # Minimum depth: 1097.565989 meters looking forward 0.000000 meters along route # Maximum depth: 1097.565989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.565989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.898779; captureRadius = 10; duration = 112; initialDepth = 1052.018538; finalDepth = 1047.565989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.565989 # Seafloor depth:-1097.565989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 112.489460 meters # Minimum depth: 1102.018538 meters looking forward 0.000000 meters along route # Maximum depth: 1102.018538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.018538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.899722; captureRadius = 10; duration = 112; initialDepth = 1047.810861; finalDepth = 1052.018538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.018538 # Seafloor depth:-1102.018538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 112.489460 meters # Minimum depth: 1097.810861 meters looking forward 0.000000 meters along route # Maximum depth: 1097.810861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.810861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.900665; captureRadius = 10; duration = 112; initialDepth = 1045.421326; finalDepth = 1047.810861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.810861 # Seafloor depth:-1097.810861 # 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 116 # Segment length 112.489460 meters # Minimum depth: 1095.421326 meters looking forward 0.000000 meters along route # Maximum depth: 1095.421326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.421326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718469; longitude = -121.901652; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1050.589917; finalDepth = 1045.421326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.421326 # Seafloor depth:-1095.421326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 112.489460 meters # Minimum depth: 1100.589917 meters looking forward 0.000000 meters along route # Maximum depth: 1100.589917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.589917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719620; longitude = -121.900635; captureRadius = 10; duration = 112; initialDepth = 1058.305813; finalDepth = 1050.589917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.589917 # Seafloor depth:-1100.589917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 112.489460 meters # Minimum depth: 1108.305813 meters looking forward 0.000000 meters along route # Maximum depth: 1108.305813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.305813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.899726; captureRadius = 10; duration = 112; initialDepth = 1045.222853; finalDepth = 1058.305813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.305813 # Seafloor depth:-1108.305813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 112.489460 meters # Minimum depth: 1095.222853 meters looking forward 0.000000 meters along route # Maximum depth: 1095.222853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.222853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.898783; captureRadius = 10; duration = 112; initialDepth = 1043.029875; finalDepth = 1045.222853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.222853 # Seafloor depth:-1095.222853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 112.489460 meters # Minimum depth: 1093.029875 meters looking forward 0.000000 meters along route # Maximum depth: 1093.029875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.029875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.897840; captureRadius = 10; duration = 112; initialDepth = 1045.429857; finalDepth = 1043.029875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.029875 # Seafloor depth:-1093.029875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 112.489460 meters # Minimum depth: 1095.429857 meters looking forward 0.000000 meters along route # Maximum depth: 1095.429857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.429857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.896897; captureRadius = 10; duration = 112; initialDepth = 1042.770097; finalDepth = 1045.429857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.429857 # Seafloor depth:-1095.429857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 112.489460 meters # Minimum depth: 1092.770097 meters looking forward 0.000000 meters along route # Maximum depth: 1092.770097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.770097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722375; longitude = -121.895936; captureRadius = 10; duration = 112; initialDepth = 1043.620350; finalDepth = 1042.770097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.770097 # Seafloor depth:-1092.770097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 112.489460 meters # Minimum depth: 1093.620350 meters looking forward 0.000000 meters along route # Maximum depth: 1093.620350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.620350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723023; longitude = -121.894831; captureRadius = 10; duration = 112; initialDepth = 1043.881989; finalDepth = 1043.620350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.62035 # Seafloor depth:-1093.620350 # 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 115 # Segment length 112.489460 meters # Minimum depth: 1093.881989 meters looking forward 0.000000 meters along route # Maximum depth: 1093.881989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.881989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723613; longitude = -121.893824; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.812744; finalDepth = 1043.881989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.881989 # Seafloor depth:-1093.881989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 112.489460 meters # Minimum depth: 1093.812744 meters looking forward 0.000000 meters along route # Maximum depth: 1093.812744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.812744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.895487; captureRadius = 10; duration = 112; initialDepth = 1043.776910; finalDepth = 1043.812744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.812744 # Seafloor depth:-1093.812744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 112.489460 meters # Minimum depth: 1093.776910 meters looking forward 0.000000 meters along route # Maximum depth: 1093.776910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.776910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.896430; captureRadius = 10; duration = 112; initialDepth = 1043.635389; finalDepth = 1043.776910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.77691 # Seafloor depth:-1093.776910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 112.489460 meters # Minimum depth: 1093.635389 meters looking forward 0.000000 meters along route # Maximum depth: 1093.635389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.635389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.897373; captureRadius = 10; duration = 112; initialDepth = 1046.486748; finalDepth = 1043.635389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.635389 # Seafloor depth:-1093.635389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 112.489460 meters # Minimum depth: 1096.486748 meters looking forward 0.000000 meters along route # Maximum depth: 1096.486748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.486748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.898316; captureRadius = 10; duration = 112; initialDepth = 1049.302302; finalDepth = 1046.486748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.486748 # Seafloor depth:-1096.486748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 112.489460 meters # Minimum depth: 1099.302302 meters looking forward 0.000000 meters along route # Maximum depth: 1099.302302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.302302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.899259; captureRadius = 10; duration = 112; initialDepth = 1058.841203; finalDepth = 1049.302302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.302302 # Seafloor depth:-1099.302302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 112.489460 meters # Minimum depth: 1108.841203 meters looking forward 0.000000 meters along route # Maximum depth: 1108.841203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.841203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.900202; captureRadius = 10; duration = 112; initialDepth = 1048.465857; finalDepth = 1058.841203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.841203 # Seafloor depth:-1108.841203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 112.489460 meters # Minimum depth: 1098.465857 meters looking forward 0.000000 meters along route # Maximum depth: 1098.465857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.465857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719851; longitude = -121.901188; captureRadius = 10; duration = 112; initialDepth = 1045.235168; finalDepth = 1048.465857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.465857 # Seafloor depth:-1098.465857 # 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 114 # Segment length 112.489460 meters # Minimum depth: 1095.235168 meters looking forward 0.000000 meters along route # Maximum depth: 1095.235168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.235168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719201; longitude = -121.902297; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1050.831426; finalDepth = 1045.235168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.235168 # Seafloor depth:-1095.235168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 112.489460 meters # Minimum depth: 1100.831426 meters looking forward 0.000000 meters along route # Maximum depth: 1100.831426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.831426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.901149; captureRadius = 10; duration = 112; initialDepth = 1051.872325; finalDepth = 1050.831426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.831426 # Seafloor depth:-1100.831426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 112.489460 meters # Minimum depth: 1101.872325 meters looking forward 0.000000 meters along route # Maximum depth: 1101.872325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.872325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.900206; captureRadius = 10; duration = 112; initialDepth = 1046.473473; finalDepth = 1051.872325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.872325 # Seafloor depth:-1101.872325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 112.489460 meters # Minimum depth: 1096.473473 meters looking forward 0.000000 meters along route # Maximum depth: 1096.473473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.473473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721541; longitude = -121.899253; captureRadius = 10; duration = 112; initialDepth = 1043.569038; finalDepth = 1046.473473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.473473 # Seafloor depth:-1096.473473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 112.489460 meters # Minimum depth: 1093.569038 meters looking forward 0.000000 meters along route # Maximum depth: 1093.569038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.569038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.898320; captureRadius = 10; duration = 112; initialDepth = 1044.128062; finalDepth = 1043.569038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.569038 # Seafloor depth:-1093.569038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 112.489460 meters # Minimum depth: 1094.128062 meters looking forward 0.000000 meters along route # Maximum depth: 1094.128062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.128062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.897377; captureRadius = 10; duration = 112; initialDepth = 1044.881162; finalDepth = 1044.128062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.128062 # Seafloor depth:-1094.128062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 112.489460 meters # Minimum depth: 1094.881162 meters looking forward 0.000000 meters along route # Maximum depth: 1094.881162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.881162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.896434; captureRadius = 10; duration = 112; initialDepth = 1047.179410; finalDepth = 1044.881162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.881162 # Seafloor depth:-1094.881162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 112.489460 meters # Minimum depth: 1097.179410 meters looking forward 0.000000 meters along route # Maximum depth: 1097.179410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.179410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723809; longitude = -121.895384; captureRadius = 10; duration = 112; initialDepth = 1048.196655; finalDepth = 1047.179410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.17941 # Seafloor depth:-1097.179410 # 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 113 # Segment length 112.489460 meters # Minimum depth: 1098.196655 meters looking forward 0.000000 meters along route # Maximum depth: 1098.196655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.196655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724345; longitude = -121.894469; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.834911; finalDepth = 1048.196655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.196655 # Seafloor depth:-1098.196655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 112.489460 meters # Minimum depth: 1098.834911 meters looking forward 0.000000 meters along route # Maximum depth: 1098.834911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.834911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.895966; captureRadius = 10; duration = 112; initialDepth = 1045.585744; finalDepth = 1048.834911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.834911 # Seafloor depth:-1098.834911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 112.489460 meters # Minimum depth: 1095.585744 meters looking forward 0.000000 meters along route # Maximum depth: 1095.585744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.585744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.896909; captureRadius = 10; duration = 112; initialDepth = 1044.923212; finalDepth = 1045.585744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.585744 # Seafloor depth:-1095.585744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 112.489460 meters # Minimum depth: 1094.923212 meters looking forward 0.000000 meters along route # Maximum depth: 1094.923212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.923212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722906; longitude = -121.897871; captureRadius = 10; duration = 112; initialDepth = 1045.465723; finalDepth = 1044.923212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.923212 # Seafloor depth:-1094.923212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 112.489460 meters # Minimum depth: 1095.465723 meters looking forward 0.000000 meters along route # Maximum depth: 1095.465723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.465723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.898795; captureRadius = 10; duration = 112; initialDepth = 1045.449677; finalDepth = 1045.465723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.465723 # Seafloor depth:-1095.465723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 112.489460 meters # Minimum depth: 1095.449677 meters looking forward 0.000000 meters along route # Maximum depth: 1095.449677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.449677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721772; longitude = -121.899806; captureRadius = 10; duration = 112; initialDepth = 1048.127332; finalDepth = 1045.449677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.449677 # Seafloor depth:-1095.449677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 112.489460 meters # Minimum depth: 1098.127332 meters looking forward 0.000000 meters along route # Maximum depth: 1098.127332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.127332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721124; longitude = -121.900912; captureRadius = 10; duration = 112; initialDepth = 1047.989321; finalDepth = 1048.127332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.127332 # Seafloor depth:-1098.127332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 112.489460 meters # Minimum depth: 1097.989321 meters looking forward 0.000000 meters along route # Maximum depth: 1097.989321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.989321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720476; longitude = -121.902017; captureRadius = 10; duration = 112; initialDepth = 1047.633606; finalDepth = 1047.989321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.989321 # Seafloor depth:-1097.989321 # 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 112 # Segment length 112.489460 meters # Minimum depth: 1097.633606 meters looking forward 0.000000 meters along route # Maximum depth: 1097.633606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.633606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719933; longitude = -121.902942; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1045.977148; finalDepth = 1047.633606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.633606 # Seafloor depth:-1097.633606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 112.489460 meters # Minimum depth: 1095.977148 meters looking forward 0.000000 meters along route # Maximum depth: 1095.977148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.977148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.902155; captureRadius = 10; duration = 112; initialDepth = 1044.394981; finalDepth = 1045.977148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.977148 # Seafloor depth:-1095.977148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 112.489460 meters # Minimum depth: 1094.394981 meters looking forward 0.000000 meters along route # Maximum depth: 1094.394981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.394981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.901417; captureRadius = 10; duration = 112; initialDepth = 1043.541622; finalDepth = 1044.394981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.394981 # Seafloor depth:-1094.394981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 112.489460 meters # Minimum depth: 1093.541622 meters looking forward 0.000000 meters along route # Maximum depth: 1093.541622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.541622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717339; longitude = -121.900635; captureRadius = 10; duration = 112; initialDepth = 1041.466981; finalDepth = 1043.541622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.541622 # Seafloor depth:-1093.541622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 112.489460 meters # Minimum depth: 1091.466981 meters looking forward 0.000000 meters along route # Maximum depth: 1091.466981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.466981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716407; longitude = -121.899806; captureRadius = 10; duration = 112; initialDepth = 1038.741241; finalDepth = 1041.466981; 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:1041.466981 # Seafloor depth:-1091.466981 # 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 111 # Segment length 112.489460 meters # Minimum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.741241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715628; longitude = -121.899113; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1040.394013; finalDepth = 1038.741241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.741241 # Seafloor depth:-1088.741241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 112.489460 meters # Minimum depth: 1090.394013 meters looking forward 0.000000 meters along route # Maximum depth: 1090.394013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.394013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716284; longitude = -121.897994; captureRadius = 10; duration = 112; initialDepth = 1039.247867; finalDepth = 1040.394013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.394013 # Seafloor depth:-1090.394013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 112.489460 meters # Minimum depth: 1089.247867 meters looking forward 0.000000 meters along route # Maximum depth: 1089.247867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.247867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716841; longitude = -121.897042; captureRadius = 10; duration = 112; initialDepth = 1037.131323; finalDepth = 1039.247867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.247867 # Seafloor depth:-1089.247867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 112.489460 meters # Minimum depth: 1087.131323 meters looking forward 0.000000 meters along route # Maximum depth: 1087.131323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.131323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.896108; captureRadius = 10; duration = 112; initialDepth = 1036.756690; finalDepth = 1037.131323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.131323 # Seafloor depth:-1087.131323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 112.489460 meters # Minimum depth: 1086.756690 meters looking forward 0.000000 meters along route # Maximum depth: 1086.756690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.756690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.895165; captureRadius = 10; duration = 112; initialDepth = 1037.349808; finalDepth = 1036.756690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.75669 # Seafloor depth:-1086.756690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 112.489460 meters # Minimum depth: 1087.349808 meters looking forward 0.000000 meters along route # Maximum depth: 1087.349808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.349808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.894222; captureRadius = 10; duration = 112; initialDepth = 1035.726773; finalDepth = 1037.349808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.349808 # Seafloor depth:-1087.349808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 112.489460 meters # Minimum depth: 1085.726773 meters looking forward 0.000000 meters along route # Maximum depth: 1085.726773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.726773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719110; longitude = -121.893172; captureRadius = 10; duration = 112; initialDepth = 1036.741537; finalDepth = 1035.726773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.726773 # Seafloor depth:-1085.726773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 112.489460 meters # Minimum depth: 1086.741537 meters looking forward 0.000000 meters along route # Maximum depth: 1086.741537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.741537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719758; longitude = -121.892067; captureRadius = 10; duration = 112; initialDepth = 1037.211426; finalDepth = 1036.741537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.741537 # Seafloor depth:-1086.741537 # 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 110 # Segment length 112.489460 meters # Minimum depth: 1087.211426 meters looking forward 0.000000 meters along route # Maximum depth: 1087.211426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.211426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720379; longitude = -121.891007; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1037.293807; finalDepth = 1037.211426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.211426 # Seafloor depth:-1087.211426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 112.489460 meters # Minimum depth: 1087.293807 meters looking forward 0.000000 meters along route # Maximum depth: 1087.293807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.293807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.892811; captureRadius = 10; duration = 112; initialDepth = 1037.951675; finalDepth = 1037.293807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.293807 # Seafloor depth:-1087.293807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 112.489460 meters # Minimum depth: 1087.951675 meters looking forward 0.000000 meters along route # Maximum depth: 1087.951675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.951675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.893754; captureRadius = 10; duration = 112; initialDepth = 1038.026326; finalDepth = 1037.951675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.951675 # Seafloor depth:-1087.951675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 112.489460 meters # Minimum depth: 1088.026326 meters looking forward 0.000000 meters along route # Maximum depth: 1088.026326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.026326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.894697; captureRadius = 10; duration = 112; initialDepth = 1038.679351; finalDepth = 1038.026326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.026326 # Seafloor depth:-1088.026326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 112.489460 meters # Minimum depth: 1088.679351 meters looking forward 0.000000 meters along route # Maximum depth: 1088.679351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.679351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718207; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1037.663356; finalDepth = 1038.679351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.679351 # Seafloor depth:-1088.679351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 112.489460 meters # Minimum depth: 1087.663356 meters looking forward 0.000000 meters along route # Maximum depth: 1087.663356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.663356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.896583; captureRadius = 10; duration = 112; initialDepth = 1040.222375; finalDepth = 1037.663356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.663356 # Seafloor depth:-1087.663356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 112.489460 meters # Minimum depth: 1090.222375 meters looking forward 0.000000 meters along route # Maximum depth: 1090.222375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.222375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.897526; captureRadius = 10; duration = 112; initialDepth = 1043.731603; finalDepth = 1040.222375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.222375 # Seafloor depth:-1090.222375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 112.489460 meters # Minimum depth: 1093.731603 meters looking forward 0.000000 meters along route # Maximum depth: 1093.731603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.731603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.898469; captureRadius = 10; duration = 112; initialDepth = 1039.724579; finalDepth = 1043.731603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.731603 # Seafloor depth:-1093.731603 # 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 109 # Segment length 112.489460 meters # Minimum depth: 1089.724579 meters looking forward 0.000000 meters along route # Maximum depth: 1089.724579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.724579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715994; longitude = -121.899435; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.224438; finalDepth = 1039.724579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.724579 # Seafloor depth:-1089.724579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.489460 meters # Minimum depth: 1098.224438 meters looking forward 0.000000 meters along route # Maximum depth: 1098.224438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.224438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.898473; captureRadius = 10; duration = 112; initialDepth = 1040.612502; finalDepth = 1048.224438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.224438 # Seafloor depth:-1098.224438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.489460 meters # Minimum depth: 1090.612502 meters looking forward 0.000000 meters along route # Maximum depth: 1090.612502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.612502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.897530; captureRadius = 10; duration = 112; initialDepth = 1037.706794; finalDepth = 1040.612502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.612502 # Seafloor depth:-1090.612502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.489460 meters # Minimum depth: 1087.706794 meters looking forward 0.000000 meters along route # Maximum depth: 1087.706794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.706794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.896587; captureRadius = 10; duration = 112; initialDepth = 1037.999386; finalDepth = 1037.706794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.706794 # Seafloor depth:-1087.706794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.489460 meters # Minimum depth: 1087.999386 meters looking forward 0.000000 meters along route # Maximum depth: 1087.999386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.999386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.895644; captureRadius = 10; duration = 112; initialDepth = 1037.773168; finalDepth = 1037.999386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.999386 # Seafloor depth:-1087.999386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.489460 meters # Minimum depth: 1087.773168 meters looking forward 0.000000 meters along route # Maximum depth: 1087.773168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.773168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.894701; captureRadius = 10; duration = 112; initialDepth = 1038.733034; finalDepth = 1037.773168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.773168 # Seafloor depth:-1087.773168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.489460 meters # Minimum depth: 1088.733034 meters looking forward 0.000000 meters along route # Maximum depth: 1088.733034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.733034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719896; longitude = -121.893725; captureRadius = 10; duration = 112; initialDepth = 1037.976757; finalDepth = 1038.733034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.733034 # Seafloor depth:-1088.733034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.489460 meters # Minimum depth: 1087.976757 meters looking forward 0.000000 meters along route # Maximum depth: 1087.976757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.976757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720544; longitude = -121.892620; captureRadius = 10; duration = 112; initialDepth = 1037.103516; finalDepth = 1037.976757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.976757 # Seafloor depth:-1087.976757 # 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 108 # Segment length 112.489460 meters # Minimum depth: 1087.103516 meters looking forward 0.000000 meters along route # Maximum depth: 1087.103516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.103516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721111; longitude = -121.891653; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1040.217904; finalDepth = 1037.103516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.103516 # Seafloor depth:-1087.103516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 112.489460 meters # Minimum depth: 1090.217904 meters looking forward 0.000000 meters along route # Maximum depth: 1090.217904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.217904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.893290; captureRadius = 10; duration = 112; initialDepth = 1040.369864; finalDepth = 1040.217904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.217904 # Seafloor depth:-1090.217904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 112.489460 meters # Minimum depth: 1090.369864 meters looking forward 0.000000 meters along route # Maximum depth: 1090.369864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.369864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720127; longitude = -121.894278; captureRadius = 10; duration = 112; initialDepth = 1039.455877; finalDepth = 1040.369864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.369864 # Seafloor depth:-1090.369864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 112.489460 meters # Minimum depth: 1089.455877 meters looking forward 0.000000 meters along route # Maximum depth: 1089.455877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.455877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.895177; captureRadius = 10; duration = 112; initialDepth = 1038.957155; finalDepth = 1039.455877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.455877 # Seafloor depth:-1089.455877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 112.489460 meters # Minimum depth: 1088.957155 meters looking forward 0.000000 meters along route # Maximum depth: 1088.957155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.957155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.896120; captureRadius = 10; duration = 112; initialDepth = 1039.384177; finalDepth = 1038.957155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.957155 # Seafloor depth:-1088.957155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 112.489460 meters # Minimum depth: 1089.384177 meters looking forward 0.000000 meters along route # Maximum depth: 1089.384177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.384177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.897063; captureRadius = 10; duration = 112; initialDepth = 1041.955957; finalDepth = 1039.384177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.384177 # Seafloor depth:-1089.384177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 112.489460 meters # Minimum depth: 1091.955957 meters looking forward 0.000000 meters along route # Maximum depth: 1091.955957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.955957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.898006; captureRadius = 10; duration = 112; initialDepth = 1050.322913; finalDepth = 1041.955957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.955957 # Seafloor depth:-1091.955957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 112.489460 meters # Minimum depth: 1100.322913 meters looking forward 0.000000 meters along route # Maximum depth: 1100.322913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.322913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717373; longitude = -121.898977; captureRadius = 10; duration = 112; initialDepth = 1041.823364; finalDepth = 1050.322913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.322913 # Seafloor depth:-1100.322913 # 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 107 # Segment length 112.489460 meters # Minimum depth: 1091.823364 meters looking forward 0.000000 meters along route # Maximum depth: 1091.823364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.823364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716726; longitude = -121.900081; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1045.940313; finalDepth = 1041.823364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.823364 # Seafloor depth:-1091.823364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 112.489460 meters # Minimum depth: 1095.940313 meters looking forward 0.000000 meters along route # Maximum depth: 1095.940313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.940313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.898953; captureRadius = 10; duration = 112; initialDepth = 1041.628783; finalDepth = 1045.940313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.940313 # Seafloor depth:-1095.940313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 112.489460 meters # Minimum depth: 1091.628783 meters looking forward 0.000000 meters along route # Maximum depth: 1091.628783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.628783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.898010; captureRadius = 10; duration = 112; initialDepth = 1041.328446; finalDepth = 1041.628783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.628783 # Seafloor depth:-1091.628783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 112.489460 meters # Minimum depth: 1091.328446 meters looking forward 0.000000 meters along route # Maximum depth: 1091.328446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.328446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719062; longitude = -121.897042; captureRadius = 10; duration = 112; initialDepth = 1039.237776; finalDepth = 1041.328446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.328446 # Seafloor depth:-1091.328446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 112.489460 meters # Minimum depth: 1089.237776 meters looking forward 0.000000 meters along route # Maximum depth: 1089.237776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.237776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.896124; captureRadius = 10; duration = 112; initialDepth = 1042.680347; finalDepth = 1039.237776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.237776 # Seafloor depth:-1089.237776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 112.489460 meters # Minimum depth: 1092.680347 meters looking forward 0.000000 meters along route # Maximum depth: 1092.680347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.680347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.895180; captureRadius = 10; duration = 112; initialDepth = 1047.514822; finalDepth = 1042.680347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.680347 # Seafloor depth:-1092.680347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 112.489460 meters # Minimum depth: 1097.514822 meters looking forward 0.000000 meters along route # Maximum depth: 1097.514822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.514822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.894237; captureRadius = 10; duration = 112; initialDepth = 1043.887967; finalDepth = 1047.514822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.514822 # Seafloor depth:-1097.514822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 112.489460 meters # Minimum depth: 1093.887967 meters looking forward 0.000000 meters along route # Maximum depth: 1093.887967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.887967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.893294; captureRadius = 10; duration = 112; initialDepth = 1039.152374; finalDepth = 1043.887967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.887967 # Seafloor depth:-1093.887967 # 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 106 # Segment length 112.489460 meters # Minimum depth: 1089.152374 meters looking forward 0.000000 meters along route # Maximum depth: 1089.152374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.152374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721843; longitude = -121.892298; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.029601; finalDepth = 1039.152374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.152374 # Seafloor depth:-1089.152374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 112.489460 meters # Minimum depth: 1098.029601 meters looking forward 0.000000 meters along route # Maximum depth: 1098.029601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.029601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.893770; captureRadius = 10; duration = 112; initialDepth = 1047.440338; finalDepth = 1048.029601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.029601 # Seafloor depth:-1098.029601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 112.489460 meters # Minimum depth: 1097.440338 meters looking forward 0.000000 meters along route # Maximum depth: 1097.440338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.440338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.894713; captureRadius = 10; duration = 112; initialDepth = 1041.783768; finalDepth = 1047.440338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.440338 # Seafloor depth:-1097.440338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 112.489460 meters # Minimum depth: 1091.783768 meters looking forward 0.000000 meters along route # Maximum depth: 1091.783768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.783768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720427; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1040.500441; finalDepth = 1041.783768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.783768 # Seafloor depth:-1091.783768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 112.489460 meters # Minimum depth: 1090.500441 meters looking forward 0.000000 meters along route # Maximum depth: 1090.500441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.500441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.896599; captureRadius = 10; duration = 112; initialDepth = 1042.870579; finalDepth = 1040.500441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.500441 # Seafloor depth:-1090.500441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 112.489460 meters # Minimum depth: 1092.870579 meters looking forward 0.000000 meters along route # Maximum depth: 1092.870579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.870579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719293; longitude = -121.897595; captureRadius = 10; duration = 112; initialDepth = 1042.766647; finalDepth = 1042.870579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.870579 # Seafloor depth:-1092.870579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 112.489460 meters # Minimum depth: 1092.766647 meters looking forward 0.000000 meters along route # Maximum depth: 1092.766647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.766647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718645; longitude = -121.898700; captureRadius = 10; duration = 112; initialDepth = 1042.946356; finalDepth = 1042.766647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.766647 # Seafloor depth:-1092.766647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 112.489460 meters # Minimum depth: 1092.946356 meters looking forward 0.000000 meters along route # Maximum depth: 1092.946356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.946356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717997; longitude = -121.899806; captureRadius = 10; duration = 112; initialDepth = 1042.962219; finalDepth = 1042.946356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.946356 # Seafloor depth:-1092.946356 # 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 105 # Segment length 112.489460 meters # Minimum depth: 1092.962219 meters looking forward 0.000000 meters along route # Maximum depth: 1092.962219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.962219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717458; longitude = -121.900726; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.577501; finalDepth = 1042.962219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.962219 # Seafloor depth:-1092.962219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 112.489460 meters # Minimum depth: 1094.577501 meters looking forward 0.000000 meters along route # Maximum depth: 1094.577501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.577501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.899904; captureRadius = 10; duration = 112; initialDepth = 1046.349721; finalDepth = 1044.577501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.577501 # Seafloor depth:-1094.577501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 112.489460 meters # Minimum depth: 1096.349721 meters looking forward 0.000000 meters along route # Maximum depth: 1096.349721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.349721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.898961; captureRadius = 10; duration = 112; initialDepth = 1044.945112; finalDepth = 1046.349721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.349721 # Seafloor depth:-1096.349721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 112.489460 meters # Minimum depth: 1094.945112 meters looking forward 0.000000 meters along route # Maximum depth: 1094.945112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.945112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.898018; captureRadius = 10; duration = 112; initialDepth = 1041.936137; finalDepth = 1044.945112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.945112 # Seafloor depth:-1094.945112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 112.489460 meters # Minimum depth: 1091.936137 meters looking forward 0.000000 meters along route # Maximum depth: 1091.936137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.936137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720172; longitude = -121.897042; captureRadius = 10; duration = 112; initialDepth = 1042.147273; finalDepth = 1041.936137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.936137 # Seafloor depth:-1091.936137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 112.489460 meters # Minimum depth: 1092.147273 meters looking forward 0.000000 meters along route # Maximum depth: 1092.147273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.147273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.896131; captureRadius = 10; duration = 112; initialDepth = 1049.918851; finalDepth = 1042.147273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.147273 # Seafloor depth:-1092.147273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 112.489460 meters # Minimum depth: 1099.918851 meters looking forward 0.000000 meters along route # Maximum depth: 1099.918851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.918851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721306; longitude = -121.895107; captureRadius = 10; duration = 112; initialDepth = 1047.983334; finalDepth = 1049.918851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.918851 # Seafloor depth:-1099.918851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 112.489460 meters # Minimum depth: 1097.983334 meters looking forward 0.000000 meters along route # Maximum depth: 1097.983334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.983334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721955; longitude = -121.894002; captureRadius = 10; duration = 112; initialDepth = 1040.853912; finalDepth = 1047.983334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.983334 # Seafloor depth:-1097.983334 # 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 104 # Segment length 112.489460 meters # Minimum depth: 1090.853912 meters looking forward 0.000000 meters along route # Maximum depth: 1090.853912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.853912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722575; longitude = -121.892943; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1050.121918; finalDepth = 1040.853912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.853912 # Seafloor depth:-1090.853912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 112.489460 meters # Minimum depth: 1100.121918 meters looking forward 0.000000 meters along route # Maximum depth: 1100.121918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.121918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.894721; captureRadius = 10; duration = 112; initialDepth = 1045.337384; finalDepth = 1050.121918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.121918 # Seafloor depth:-1100.121918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 112.489460 meters # Minimum depth: 1095.337384 meters looking forward 0.000000 meters along route # Maximum depth: 1095.337384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.337384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.895664; captureRadius = 10; duration = 112; initialDepth = 1042.603754; finalDepth = 1045.337384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.337384 # Seafloor depth:-1095.337384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 112.489460 meters # Minimum depth: 1092.603754 meters looking forward 0.000000 meters along route # Maximum depth: 1092.603754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.603754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.896607; captureRadius = 10; duration = 112; initialDepth = 1042.110979; finalDepth = 1042.603754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.603754 # Seafloor depth:-1092.603754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 112.489460 meters # Minimum depth: 1092.110979 meters looking forward 0.000000 meters along route # Maximum depth: 1092.110979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.110979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720403; longitude = -121.897595; captureRadius = 10; duration = 112; initialDepth = 1046.075182; finalDepth = 1042.110979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.110979 # Seafloor depth:-1092.110979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 112.489460 meters # Minimum depth: 1096.075182 meters looking forward 0.000000 meters along route # Maximum depth: 1096.075182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.075182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.898493; captureRadius = 10; duration = 112; initialDepth = 1047.495694; finalDepth = 1046.075182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.075182 # Seafloor depth:-1096.075182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 112.489460 meters # Minimum depth: 1097.495694 meters looking forward 0.000000 meters along route # Maximum depth: 1097.495694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.495694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.899436; captureRadius = 10; duration = 112; initialDepth = 1046.009525; finalDepth = 1047.495694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.495694 # Seafloor depth:-1097.495694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 112.489460 meters # Minimum depth: 1096.009525 meters looking forward 0.000000 meters along route # Maximum depth: 1096.009525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.009525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.900379; captureRadius = 10; duration = 112; initialDepth = 1043.095764; finalDepth = 1046.009525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.009525 # Seafloor depth:-1096.009525 # 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 103 # Segment length 112.489460 meters # Minimum depth: 1093.095764 meters looking forward 0.000000 meters along route # Maximum depth: 1093.095764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.095764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718190; longitude = -121.901371; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1050.275988; finalDepth = 1043.095764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.095764 # Seafloor depth:-1093.095764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 112.489460 meters # Minimum depth: 1100.275988 meters looking forward 0.000000 meters along route # Maximum depth: 1100.275988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.275988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719338; longitude = -121.900359; captureRadius = 10; duration = 112; initialDepth = 1053.289590; finalDepth = 1050.275988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.275988 # Seafloor depth:-1100.275988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 112.489460 meters # Minimum depth: 1103.289590 meters looking forward 0.000000 meters along route # Maximum depth: 1103.289590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.289590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.899440; captureRadius = 10; duration = 112; initialDepth = 1046.333701; finalDepth = 1053.289590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.28959 # Seafloor depth:-1103.289590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 112.489460 meters # Minimum depth: 1096.333701 meters looking forward 0.000000 meters along route # Maximum depth: 1096.333701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.333701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.898497; captureRadius = 10; duration = 112; initialDepth = 1042.722657; finalDepth = 1046.333701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.333701 # Seafloor depth:-1096.333701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 112.489460 meters # Minimum depth: 1092.722657 meters looking forward 0.000000 meters along route # Maximum depth: 1092.722657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.722657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.897554; captureRadius = 10; duration = 112; initialDepth = 1043.461816; finalDepth = 1042.722657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.722657 # Seafloor depth:-1092.722657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 112.489460 meters # Minimum depth: 1093.461816 meters looking forward 0.000000 meters along route # Maximum depth: 1093.461816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.461816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.896611; captureRadius = 10; duration = 112; initialDepth = 1044.833587; finalDepth = 1043.461816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.461816 # Seafloor depth:-1093.461816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 112.489460 meters # Minimum depth: 1094.833587 meters looking forward 0.000000 meters along route # Maximum depth: 1094.833587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.833587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722093; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1044.108970; finalDepth = 1044.833587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.833587 # Seafloor depth:-1094.833587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 112.489460 meters # Minimum depth: 1094.108970 meters looking forward 0.000000 meters along route # Maximum depth: 1094.108970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.108970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722741; longitude = -121.894554; captureRadius = 10; duration = 112; initialDepth = 1042.805511; finalDepth = 1044.108970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.10897 # Seafloor depth:-1094.108970 # 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 102 # Segment length 112.489460 meters # Minimum depth: 1092.805511 meters looking forward 0.000000 meters along route # Maximum depth: 1092.805511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.805511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723307; longitude = -121.893588; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.682710; finalDepth = 1042.805511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.805511 # Seafloor depth:-1092.805511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 112.489460 meters # Minimum depth: 1094.682710 meters looking forward 0.000000 meters along route # Maximum depth: 1094.682710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.682710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.895200; captureRadius = 10; duration = 112; initialDepth = 1043.686419; finalDepth = 1044.682710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.68271 # Seafloor depth:-1094.682710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 112.489460 meters # Minimum depth: 1093.686419 meters looking forward 0.000000 meters along route # Maximum depth: 1093.686419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.686419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.896143; captureRadius = 10; duration = 112; initialDepth = 1047.687557; finalDepth = 1043.686419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.686419 # Seafloor depth:-1093.686419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 112.489460 meters # Minimum depth: 1097.687557 meters looking forward 0.000000 meters along route # Maximum depth: 1097.687557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.687557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.897086; captureRadius = 10; duration = 112; initialDepth = 1042.876435; finalDepth = 1047.687557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.687557 # Seafloor depth:-1097.687557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 112.489460 meters # Minimum depth: 1092.876435 meters looking forward 0.000000 meters along route # Maximum depth: 1092.876435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.876435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.898029; captureRadius = 10; duration = 112; initialDepth = 1048.476214; finalDepth = 1042.876435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.876435 # Seafloor depth:-1092.876435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 112.489460 meters # Minimum depth: 1098.476214 meters looking forward 0.000000 meters along route # Maximum depth: 1098.476214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.476214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720704; longitude = -121.898977; captureRadius = 10; duration = 112; initialDepth = 1060.031590; finalDepth = 1048.476214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.476214 # Seafloor depth:-1098.476214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 112.489460 meters # Minimum depth: 1110.031590 meters looking forward 0.000000 meters along route # Maximum depth: 1110.031590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.031590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.899916; captureRadius = 10; duration = 112; initialDepth = 1049.660101; finalDepth = 1060.031590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.03159 # Seafloor depth:-1110.031590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 112.489460 meters # Minimum depth: 1099.660101 meters looking forward 0.000000 meters along route # Maximum depth: 1099.660101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.660101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719569; longitude = -121.900912; captureRadius = 10; duration = 112; initialDepth = 1044.154510; finalDepth = 1049.660101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.660101 # Seafloor depth:-1099.660101 # 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 101 # Segment length 112.489460 meters # Minimum depth: 1094.154510 meters looking forward 0.000000 meters along route # Maximum depth: 1094.154510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.154510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718922; longitude = -121.902017; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1051.407483; finalDepth = 1044.154510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.15451 # Seafloor depth:-1094.154510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 112.489460 meters # Minimum depth: 1101.407483 meters looking forward 0.000000 meters along route # Maximum depth: 1101.407483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.407483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.900863; captureRadius = 10; duration = 112; initialDepth = 1056.791588; finalDepth = 1051.407483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.407483 # Seafloor depth:-1101.407483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 112.489460 meters # Minimum depth: 1106.791588 meters looking forward 0.000000 meters along route # Maximum depth: 1106.791588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.791588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.899920; captureRadius = 10; duration = 112; initialDepth = 1046.745901; finalDepth = 1056.791588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.791588 # Seafloor depth:-1106.791588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 112.489460 meters # Minimum depth: 1096.745901 meters looking forward 0.000000 meters along route # Maximum depth: 1096.745901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.745901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.898976; captureRadius = 10; duration = 112; initialDepth = 1043.150451; finalDepth = 1046.745901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.745901 # Seafloor depth:-1096.745901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 112.489460 meters # Minimum depth: 1093.150451 meters looking forward 0.000000 meters along route # Maximum depth: 1093.150451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.150451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.898033; captureRadius = 10; duration = 112; initialDepth = 1044.066150; finalDepth = 1043.150451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.150451 # Seafloor depth:-1093.150451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 112.489460 meters # Minimum depth: 1094.066150 meters looking forward 0.000000 meters along route # Maximum depth: 1094.066150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.066150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.897090; captureRadius = 10; duration = 112; initialDepth = 1044.142118; finalDepth = 1044.066150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.06615 # Seafloor depth:-1094.066150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 112.489460 meters # Minimum depth: 1094.142118 meters looking forward 0.000000 meters along route # Maximum depth: 1094.142118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.142118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.896147; captureRadius = 10; duration = 112; initialDepth = 1045.641777; finalDepth = 1044.142118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.142118 # Seafloor depth:-1094.142118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 112.489460 meters # Minimum depth: 1095.641777 meters looking forward 0.000000 meters along route # Maximum depth: 1095.641777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.641777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.895204; captureRadius = 10; duration = 112; initialDepth = 1046.052612; finalDepth = 1045.641777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.641777 # Seafloor depth:-1095.641777 # 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 100 # Segment length 112.489460 meters # Minimum depth: 1096.052612 meters looking forward 0.000000 meters along route # Maximum depth: 1096.052612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.052612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724039; longitude = -121.894234; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.837099; finalDepth = 1046.052612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.052612 # Seafloor depth:-1096.052612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 112.489460 meters # Minimum depth: 1093.837099 meters looking forward 0.000000 meters along route # Maximum depth: 1093.837099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.837099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.895680; captureRadius = 10; duration = 112; initialDepth = 1044.981204; finalDepth = 1043.837099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.837099 # Seafloor depth:-1093.837099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 112.489460 meters # Minimum depth: 1094.981204 meters looking forward 0.000000 meters along route # Maximum depth: 1094.981204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.981204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.896623; captureRadius = 10; duration = 112; initialDepth = 1045.286983; finalDepth = 1044.981204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.981204 # Seafloor depth:-1094.981204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 112.489460 meters # Minimum depth: 1095.286983 meters looking forward 0.000000 meters along route # Maximum depth: 1095.286983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.286983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722624; longitude = -121.897595; captureRadius = 10; duration = 112; initialDepth = 1044.879347; finalDepth = 1045.286983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.286983 # Seafloor depth:-1095.286983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 112.489460 meters # Minimum depth: 1094.879347 meters looking forward 0.000000 meters along route # Maximum depth: 1094.879347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.879347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.898509; captureRadius = 10; duration = 112; initialDepth = 1047.490691; finalDepth = 1044.879347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.879347 # Seafloor depth:-1094.879347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 112.489460 meters # Minimum depth: 1097.490691 meters looking forward 0.000000 meters along route # Maximum depth: 1097.490691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.490691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721490; longitude = -121.899530; captureRadius = 10; duration = 112; initialDepth = 1051.493607; finalDepth = 1047.490691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.490691 # Seafloor depth:-1097.490691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 112.489460 meters # Minimum depth: 1101.493607 meters looking forward 0.000000 meters along route # Maximum depth: 1101.493607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.493607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720842; longitude = -121.900635; captureRadius = 10; duration = 112; initialDepth = 1047.233550; finalDepth = 1051.493607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.493607 # Seafloor depth:-1101.493607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 112.489460 meters # Minimum depth: 1097.233550 meters looking forward 0.000000 meters along route # Maximum depth: 1097.233550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.233550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720193; longitude = -121.901741; captureRadius = 10; duration = 112; initialDepth = 1046.852722; finalDepth = 1047.233550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.23355 # Seafloor depth:-1097.233550 # 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 99 # Segment length 112.489460 meters # Minimum depth: 1096.852722 meters looking forward 0.000000 meters along route # Maximum depth: 1096.852722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.852722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719654; longitude = -121.902662; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.433082; finalDepth = 1046.852722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.852722 # Seafloor depth:-1096.852722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 112.489460 meters # Minimum depth: 1098.433082 meters looking forward 0.000000 meters along route # Maximum depth: 1098.433082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.433082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.901814; captureRadius = 10; duration = 112; initialDepth = 1048.181769; finalDepth = 1048.433082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.433082 # Seafloor depth:-1098.433082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 112.489460 meters # Minimum depth: 1098.181769 meters looking forward 0.000000 meters along route # Maximum depth: 1098.181769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.181769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.900870; captureRadius = 10; duration = 112; initialDepth = 1046.583288; finalDepth = 1048.181769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.181769 # Seafloor depth:-1098.181769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 112.489460 meters # Minimum depth: 1096.583288 meters looking forward 0.000000 meters along route # Maximum depth: 1096.583288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.583288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.899927; captureRadius = 10; duration = 112; initialDepth = 1046.669595; finalDepth = 1046.583288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.583288 # Seafloor depth:-1096.583288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 112.489460 meters # Minimum depth: 1096.669595 meters looking forward 0.000000 meters along route # Maximum depth: 1096.669595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.669595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722369; longitude = -121.898977; captureRadius = 10; duration = 112; initialDepth = 1045.373403; finalDepth = 1046.669595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.669595 # Seafloor depth:-1096.669595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 112.489460 meters # Minimum depth: 1095.373403 meters looking forward 0.000000 meters along route # Maximum depth: 1095.373403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.373403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.898041; captureRadius = 10; duration = 112; initialDepth = 1045.280111; finalDepth = 1045.373403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.373403 # Seafloor depth:-1095.373403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 112.489460 meters # Minimum depth: 1095.280111 meters looking forward 0.000000 meters along route # Maximum depth: 1095.280111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.280111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723503; longitude = -121.897042; captureRadius = 10; duration = 112; initialDepth = 1049.233332; finalDepth = 1045.280111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.280111 # Seafloor depth:-1095.280111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 112.489460 meters # Minimum depth: 1099.233332 meters looking forward 0.000000 meters along route # Maximum depth: 1099.233332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.233332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724151; longitude = -121.895936; captureRadius = 10; duration = 112; initialDepth = 1050.516968; finalDepth = 1049.233332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.233332 # Seafloor depth:-1099.233332 # 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 98 # Segment length 112.489460 meters # Minimum depth: 1100.516968 meters looking forward 0.000000 meters along route # Maximum depth: 1100.516968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.516968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724771; longitude = -121.894879; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.855623; finalDepth = 1050.516968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.516968 # Seafloor depth:-1100.516968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 112.489460 meters # Minimum depth: 1093.855623 meters looking forward 0.000000 meters along route # Maximum depth: 1093.855623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.855623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.893984; captureRadius = 10; duration = 112; initialDepth = 1041.851398; finalDepth = 1043.855623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.855623 # Seafloor depth:-1093.855623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 112.489460 meters # Minimum depth: 1091.851398 meters looking forward 0.000000 meters along route # Maximum depth: 1091.851398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.851398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.893259; captureRadius = 10; duration = 112; initialDepth = 1037.949220; finalDepth = 1041.851398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.851398 # Seafloor depth:-1091.851398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 112.489460 meters # Minimum depth: 1087.949220 meters looking forward 0.000000 meters along route # Maximum depth: 1087.949220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.949220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.892535; captureRadius = 10; duration = 112; initialDepth = 1037.368137; finalDepth = 1037.949220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.94922 # Seafloor depth:-1087.949220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 112.489460 meters # Minimum depth: 1087.368137 meters looking forward 0.000000 meters along route # Maximum depth: 1087.368137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.368137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721236; longitude = -121.891790; captureRadius = 10; duration = 112; initialDepth = 1037.171997; finalDepth = 1037.368137; 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:1037.368137 # Seafloor depth:-1087.368137 # 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 97 # Segment length 112.489460 meters # Minimum depth: 1087.171997 meters looking forward 0.000000 meters along route # Maximum depth: 1087.171997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.171997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720439; longitude = -121.891094; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1038.480297; finalDepth = 1037.171997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.171997 # Seafloor depth:-1087.171997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 112.489460 meters # Minimum depth: 1088.480297 meters looking forward 0.000000 meters along route # Maximum depth: 1088.480297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.480297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.892525; captureRadius = 10; duration = 112; initialDepth = 1037.141187; finalDepth = 1038.480297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.480297 # Seafloor depth:-1088.480297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 112.489460 meters # Minimum depth: 1087.141187 meters looking forward 0.000000 meters along route # Maximum depth: 1087.141187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.141187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.893468; captureRadius = 10; duration = 112; initialDepth = 1037.212160; finalDepth = 1037.141187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.141187 # Seafloor depth:-1087.141187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 112.489460 meters # Minimum depth: 1087.212160 meters looking forward 0.000000 meters along route # Maximum depth: 1087.212160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.212160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.894411; captureRadius = 10; duration = 112; initialDepth = 1036.645454; finalDepth = 1037.212160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.21216 # Seafloor depth:-1087.212160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 112.489460 meters # Minimum depth: 1086.645454 meters looking forward 0.000000 meters along route # Maximum depth: 1086.645454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.645454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717925; longitude = -121.895384; captureRadius = 10; duration = 112; initialDepth = 1036.590420; finalDepth = 1036.645454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.645454 # Seafloor depth:-1086.645454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 112.489460 meters # Minimum depth: 1086.590420 meters looking forward 0.000000 meters along route # Maximum depth: 1086.590420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.590420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.896297; captureRadius = 10; duration = 112; initialDepth = 1039.442724; finalDepth = 1036.590420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.59042 # Seafloor depth:-1086.590420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 112.489460 meters # Minimum depth: 1089.442724 meters looking forward 0.000000 meters along route # Maximum depth: 1089.442724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.442724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716836; longitude = -121.897240; captureRadius = 10; duration = 112; initialDepth = 1039.781570; finalDepth = 1039.442724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.442724 # Seafloor depth:-1089.442724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 112.489460 meters # Minimum depth: 1089.781570 meters looking forward 0.000000 meters along route # Maximum depth: 1089.781570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.781570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716284; longitude = -121.898183; captureRadius = 10; duration = 112; initialDepth = 1038.741241; finalDepth = 1039.781570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.78157 # Seafloor depth:-1089.781570 # 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 96 # Segment length 112.489460 meters # Minimum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum depth: 1088.741241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.741241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715714; longitude = -121.899155; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.829641; finalDepth = 1038.741241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.741241 # Seafloor depth:-1088.741241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 112.489460 meters # Minimum depth: 1093.829641 meters looking forward 0.000000 meters along route # Maximum depth: 1093.829641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.829641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716860; longitude = -121.898148; captureRadius = 10; duration = 112; initialDepth = 1041.367879; finalDepth = 1043.829641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.829641 # Seafloor depth:-1093.829641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 112.489460 meters # Minimum depth: 1091.367879 meters looking forward 0.000000 meters along route # Maximum depth: 1091.367879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.367879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.897244; captureRadius = 10; duration = 112; initialDepth = 1038.808404; finalDepth = 1041.367879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.367879 # Seafloor depth:-1091.367879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 112.489460 meters # Minimum depth: 1088.808404 meters looking forward 0.000000 meters along route # Maximum depth: 1088.808404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.808404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.896301; captureRadius = 10; duration = 112; initialDepth = 1039.490055; finalDepth = 1038.808404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.808404 # Seafloor depth:-1088.808404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 112.489460 meters # Minimum depth: 1089.490055 meters looking forward 0.000000 meters along route # Maximum depth: 1089.490055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.490055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.895358; captureRadius = 10; duration = 112; initialDepth = 1037.279821; finalDepth = 1039.490055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.490055 # Seafloor depth:-1089.490055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 112.489460 meters # Minimum depth: 1087.279821 meters looking forward 0.000000 meters along route # Maximum depth: 1087.279821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.279821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.894415; captureRadius = 10; duration = 112; initialDepth = 1038.262518; finalDepth = 1037.279821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.279821 # Seafloor depth:-1087.279821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 112.489460 meters # Minimum depth: 1088.262518 meters looking forward 0.000000 meters along route # Maximum depth: 1088.262518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.262518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719614; longitude = -121.893449; captureRadius = 10; duration = 112; initialDepth = 1036.013518; finalDepth = 1038.262518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.262518 # Seafloor depth:-1088.262518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 112.489460 meters # Minimum depth: 1086.013518 meters looking forward 0.000000 meters along route # Maximum depth: 1086.013518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.013518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720262; longitude = -121.892343; captureRadius = 10; duration = 112; initialDepth = 1036.941589; finalDepth = 1036.013518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.013518 # Seafloor depth:-1086.013518 # 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 95 # Segment length 112.489460 meters # Minimum depth: 1086.941589 meters looking forward 0.000000 meters along route # Maximum depth: 1086.941589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.941589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720805; longitude = -121.891417; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1038.962416; finalDepth = 1036.941589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.941589 # Seafloor depth:-1086.941589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 112.489460 meters # Minimum depth: 1088.962416 meters looking forward 0.000000 meters along route # Maximum depth: 1088.962416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.962416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.893004; captureRadius = 10; duration = 112; initialDepth = 1038.827081; finalDepth = 1038.962416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.962416 # Seafloor depth:-1088.962416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 112.489460 meters # Minimum depth: 1088.827081 meters looking forward 0.000000 meters along route # Maximum depth: 1088.827081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.827081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.893947; captureRadius = 10; duration = 112; initialDepth = 1038.201938; finalDepth = 1038.827081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.827081 # Seafloor depth:-1088.827081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 112.489460 meters # Minimum depth: 1088.201938 meters looking forward 0.000000 meters along route # Maximum depth: 1088.201938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.201938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.894890; captureRadius = 10; duration = 112; initialDepth = 1038.053349; finalDepth = 1038.201938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.201938 # Seafloor depth:-1088.201938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 112.489460 meters # Minimum depth: 1088.053349 meters looking forward 0.000000 meters along route # Maximum depth: 1088.053349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.053349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.895833; captureRadius = 10; duration = 112; initialDepth = 1037.347339; finalDepth = 1038.053349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.053349 # Seafloor depth:-1088.053349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 112.489460 meters # Minimum depth: 1087.347339 meters looking forward 0.000000 meters along route # Maximum depth: 1087.347339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.347339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.896776; captureRadius = 10; duration = 112; initialDepth = 1041.998209; finalDepth = 1037.347339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.347339 # Seafloor depth:-1087.347339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 112.489460 meters # Minimum depth: 1091.998209 meters looking forward 0.000000 meters along route # Maximum depth: 1091.998209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.998209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.897720; captureRadius = 10; duration = 112; initialDepth = 1047.764345; finalDepth = 1041.998209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.998209 # Seafloor depth:-1091.998209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 112.489460 meters # Minimum depth: 1097.764345 meters looking forward 0.000000 meters along route # Maximum depth: 1097.764345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.764345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717091; longitude = -121.898700; captureRadius = 10; duration = 112; initialDepth = 1041.499329; finalDepth = 1047.764345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.764345 # Seafloor depth:-1097.764345 # 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 94 # Segment length 112.489460 meters # Minimum depth: 1091.499329 meters looking forward 0.000000 meters along route # Maximum depth: 1091.499329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.499329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716446; longitude = -121.899800; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.968934; finalDepth = 1041.499329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.499329 # Seafloor depth:-1091.499329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 112.489460 meters # Minimum depth: 1098.968934 meters looking forward 0.000000 meters along route # Maximum depth: 1098.968934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.968934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.898667; captureRadius = 10; duration = 112; initialDepth = 1040.810201; finalDepth = 1048.968934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.968934 # Seafloor depth:-1098.968934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 112.489460 meters # Minimum depth: 1090.810201 meters looking forward 0.000000 meters along route # Maximum depth: 1090.810201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.810201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.897723; captureRadius = 10; duration = 112; initialDepth = 1039.552968; finalDepth = 1040.810201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.810201 # Seafloor depth:-1090.810201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 112.489460 meters # Minimum depth: 1089.552968 meters looking forward 0.000000 meters along route # Maximum depth: 1089.552968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.552968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718780; longitude = -121.896766; captureRadius = 10; duration = 112; initialDepth = 1039.183985; finalDepth = 1039.552968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.552968 # Seafloor depth:-1089.552968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 112.489460 meters # Minimum depth: 1089.183985 meters looking forward 0.000000 meters along route # Maximum depth: 1089.183985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.183985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.895837; captureRadius = 10; duration = 112; initialDepth = 1040.752159; finalDepth = 1039.183985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.183985 # Seafloor depth:-1089.183985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 112.489460 meters # Minimum depth: 1090.752159 meters looking forward 0.000000 meters along route # Maximum depth: 1090.752159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.752159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.894894; captureRadius = 10; duration = 112; initialDepth = 1043.366441; finalDepth = 1040.752159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.752159 # Seafloor depth:-1090.752159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 112.489460 meters # Minimum depth: 1093.366441 meters looking forward 0.000000 meters along route # Maximum depth: 1093.366441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.366441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.893951; captureRadius = 10; duration = 112; initialDepth = 1042.359714; finalDepth = 1043.366441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.366441 # Seafloor depth:-1093.366441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 112.489460 meters # Minimum depth: 1092.359714 meters looking forward 0.000000 meters along route # Maximum depth: 1092.359714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.359714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.893008; captureRadius = 10; duration = 112; initialDepth = 1038.101227; finalDepth = 1042.359714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.359714 # Seafloor depth:-1092.359714 # 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 93 # Segment length 112.489460 meters # Minimum depth: 1088.101227 meters looking forward 0.000000 meters along route # Maximum depth: 1088.101227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.101227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721537; longitude = -121.892062; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.183988; finalDepth = 1038.101227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.101227 # Seafloor depth:-1088.101227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 112.489460 meters # Minimum depth: 1094.183988 meters looking forward 0.000000 meters along route # Maximum depth: 1094.183988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.183988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.893484; captureRadius = 10; duration = 112; initialDepth = 1045.154059; finalDepth = 1044.183988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.183988 # Seafloor depth:-1094.183988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 112.489460 meters # Minimum depth: 1095.154059 meters looking forward 0.000000 meters along route # Maximum depth: 1095.154059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.154059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.894427; captureRadius = 10; duration = 112; initialDepth = 1042.732159; finalDepth = 1045.154059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.154059 # Seafloor depth:-1095.154059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 112.489460 meters # Minimum depth: 1092.732159 meters looking forward 0.000000 meters along route # Maximum depth: 1092.732159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.732159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720145; longitude = -121.895384; captureRadius = 10; duration = 112; initialDepth = 1039.391395; finalDepth = 1042.732159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.732159 # Seafloor depth:-1092.732159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 112.489460 meters # Minimum depth: 1089.391395 meters looking forward 0.000000 meters along route # Maximum depth: 1089.391395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.391395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.896313; captureRadius = 10; duration = 112; initialDepth = 1041.600649; finalDepth = 1039.391395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.391395 # Seafloor depth:-1089.391395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 112.489460 meters # Minimum depth: 1091.600649 meters looking forward 0.000000 meters along route # Maximum depth: 1091.600649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.600649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719011; longitude = -121.897318; captureRadius = 10; duration = 112; initialDepth = 1041.648072; finalDepth = 1041.600649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.600649 # Seafloor depth:-1091.600649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 112.489460 meters # Minimum depth: 1091.648072 meters looking forward 0.000000 meters along route # Maximum depth: 1091.648072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.648072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718363; longitude = -121.898424; captureRadius = 10; duration = 112; initialDepth = 1042.904553; finalDepth = 1041.648072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.648072 # Seafloor depth:-1091.648072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 112.489460 meters # Minimum depth: 1092.904553 meters looking forward 0.000000 meters along route # Maximum depth: 1092.904553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.904553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717715; longitude = -121.899530; captureRadius = 10; duration = 112; initialDepth = 1043.008942; finalDepth = 1042.904553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.904553 # Seafloor depth:-1092.904553 # 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 92 # Segment length 112.489460 meters # Minimum depth: 1093.008942 meters looking forward 0.000000 meters along route # Maximum depth: 1093.008942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.008942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717178; longitude = -121.900445; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.015426; finalDepth = 1043.008942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.008942 # Seafloor depth:-1093.008942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 112.489460 meters # Minimum depth: 1094.015426 meters looking forward 0.000000 meters along route # Maximum depth: 1094.015426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.015426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.899617; captureRadius = 10; duration = 112; initialDepth = 1042.721700; finalDepth = 1044.015426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.015426 # Seafloor depth:-1094.015426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 112.489460 meters # Minimum depth: 1092.721700 meters looking forward 0.000000 meters along route # Maximum depth: 1092.721700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.721700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.898674; captureRadius = 10; duration = 112; initialDepth = 1042.885465; finalDepth = 1042.721700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.7217 # Seafloor depth:-1092.721700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 112.489460 meters # Minimum depth: 1092.885465 meters looking forward 0.000000 meters along route # Maximum depth: 1092.885465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.885465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.897731; captureRadius = 10; duration = 112; initialDepth = 1039.844689; finalDepth = 1042.885465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.885465 # Seafloor depth:-1092.885465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 112.489460 meters # Minimum depth: 1089.844689 meters looking forward 0.000000 meters along route # Maximum depth: 1089.844689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.844689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719890; longitude = -121.896766; captureRadius = 10; duration = 112; initialDepth = 1041.942733; finalDepth = 1039.844689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.844689 # Seafloor depth:-1089.844689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 112.489460 meters # Minimum depth: 1091.942733 meters looking forward 0.000000 meters along route # Maximum depth: 1091.942733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.942733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.895845; captureRadius = 10; duration = 112; initialDepth = 1047.746842; finalDepth = 1041.942733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.942733 # Seafloor depth:-1091.942733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 112.489460 meters # Minimum depth: 1097.746842 meters looking forward 0.000000 meters along route # Maximum depth: 1097.746842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.746842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721024; longitude = -121.894831; captureRadius = 10; duration = 112; initialDepth = 1047.876475; finalDepth = 1047.746842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.746842 # Seafloor depth:-1097.746842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 112.489460 meters # Minimum depth: 1097.876475 meters looking forward 0.000000 meters along route # Maximum depth: 1097.876475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.876475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721673; longitude = -121.893725; captureRadius = 10; duration = 112; initialDepth = 1039.276245; finalDepth = 1047.876475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.876475 # Seafloor depth:-1097.876475 # 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 91 # Segment length 112.489460 meters # Minimum depth: 1089.276245 meters looking forward 0.000000 meters along route # Maximum depth: 1089.276245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.276245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722269; longitude = -121.892708; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1054.694520; finalDepth = 1039.276245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.276245 # Seafloor depth:-1089.276245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 112.489460 meters # Minimum depth: 1104.694520 meters looking forward 0.000000 meters along route # Maximum depth: 1104.694520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.694520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.894435; captureRadius = 10; duration = 112; initialDepth = 1042.795041; finalDepth = 1054.694520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.69452 # Seafloor depth:-1104.694520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 112.489460 meters # Minimum depth: 1092.795041 meters looking forward 0.000000 meters along route # Maximum depth: 1092.795041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.795041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721255; longitude = -121.895384; captureRadius = 10; duration = 112; initialDepth = 1042.508515; finalDepth = 1042.795041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.795041 # Seafloor depth:-1092.795041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 112.489460 meters # Minimum depth: 1092.508515 meters looking forward 0.000000 meters along route # Maximum depth: 1092.508515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.508515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.896321; captureRadius = 10; duration = 112; initialDepth = 1041.369776; finalDepth = 1042.508515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.508515 # Seafloor depth:-1092.508515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 112.489460 meters # Minimum depth: 1091.369776 meters looking forward 0.000000 meters along route # Maximum depth: 1091.369776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.369776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.897264; captureRadius = 10; duration = 112; initialDepth = 1046.027603; finalDepth = 1041.369776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.369776 # Seafloor depth:-1091.369776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 112.489460 meters # Minimum depth: 1096.027603 meters looking forward 0.000000 meters along route # Maximum depth: 1096.027603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.027603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.898207; captureRadius = 10; duration = 112; initialDepth = 1046.002569; finalDepth = 1046.027603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.027603 # Seafloor depth:-1096.027603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 112.489460 meters # Minimum depth: 1096.002569 meters looking forward 0.000000 meters along route # Maximum depth: 1096.002569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.002569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.899150; captureRadius = 10; duration = 112; initialDepth = 1044.603040; finalDepth = 1046.002569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.002569 # Seafloor depth:-1096.002569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 112.489460 meters # Minimum depth: 1094.603040 meters looking forward 0.000000 meters along route # Maximum depth: 1094.603040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.603040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.900093; captureRadius = 10; duration = 112; initialDepth = 1042.605469; finalDepth = 1044.603040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.60304 # Seafloor depth:-1094.603040 # 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 90 # Segment length 112.489460 meters # Minimum depth: 1092.605469 meters looking forward 0.000000 meters along route # Maximum depth: 1092.605469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.605469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717910; longitude = -121.901091; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.792662; finalDepth = 1042.605469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.605469 # Seafloor depth:-1092.605469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 112.489460 meters # Minimum depth: 1098.792662 meters looking forward 0.000000 meters along route # Maximum depth: 1098.792662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.792662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719056; longitude = -121.900082; captureRadius = 10; duration = 112; initialDepth = 1049.739420; finalDepth = 1048.792662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.792662 # Seafloor depth:-1098.792662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 112.489460 meters # Minimum depth: 1099.739420 meters looking forward 0.000000 meters along route # Maximum depth: 1099.739420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.739420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.899154; captureRadius = 10; duration = 112; initialDepth = 1044.895077; finalDepth = 1049.739420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.73942 # Seafloor depth:-1099.739420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 112.489460 meters # Minimum depth: 1094.895077 meters looking forward 0.000000 meters along route # Maximum depth: 1094.895077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.895077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.898211; captureRadius = 10; duration = 112; initialDepth = 1041.434399; finalDepth = 1044.895077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.895077 # Seafloor depth:-1094.895077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 112.489460 meters # Minimum depth: 1091.434399 meters looking forward 0.000000 meters along route # Maximum depth: 1091.434399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.434399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.897268; captureRadius = 10; duration = 112; initialDepth = 1043.307196; finalDepth = 1041.434399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.434399 # Seafloor depth:-1091.434399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 112.489460 meters # Minimum depth: 1093.307196 meters looking forward 0.000000 meters along route # Maximum depth: 1093.307196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.307196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.896325; captureRadius = 10; duration = 112; initialDepth = 1046.246266; finalDepth = 1043.307196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.307196 # Seafloor depth:-1093.307196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 112.489460 meters # Minimum depth: 1096.246266 meters looking forward 0.000000 meters along route # Maximum depth: 1096.246266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.246266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.895382; captureRadius = 10; duration = 112; initialDepth = 1045.893280; finalDepth = 1046.246266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.246266 # Seafloor depth:-1096.246266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 112.489460 meters # Minimum depth: 1095.893280 meters looking forward 0.000000 meters along route # Maximum depth: 1095.893280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.893280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722459; longitude = -121.894278; captureRadius = 10; duration = 112; initialDepth = 1042.276154; finalDepth = 1045.893280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.89328 # Seafloor depth:-1095.893280 # 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 89 # Segment length 112.489460 meters # Minimum depth: 1092.276154 meters looking forward 0.000000 meters along route # Maximum depth: 1092.276154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.276154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723001; longitude = -121.893353; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.066238; finalDepth = 1042.276154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.276154 # Seafloor depth:-1092.276154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.489460 meters # Minimum depth: 1094.066238 meters looking forward 0.000000 meters along route # Maximum depth: 1094.066238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.066238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.894914; captureRadius = 10; duration = 112; initialDepth = 1043.940352; finalDepth = 1044.066238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.066238 # Seafloor depth:-1094.066238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.489460 meters # Minimum depth: 1093.940352 meters looking forward 0.000000 meters along route # Maximum depth: 1093.940352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.940352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.895857; captureRadius = 10; duration = 112; initialDepth = 1044.340097; finalDepth = 1043.940352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.940352 # Seafloor depth:-1093.940352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.489460 meters # Minimum depth: 1094.340097 meters looking forward 0.000000 meters along route # Maximum depth: 1094.340097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.340097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.896800; captureRadius = 10; duration = 112; initialDepth = 1042.608942; finalDepth = 1044.340097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.340097 # Seafloor depth:-1094.340097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.489460 meters # Minimum depth: 1092.608942 meters looking forward 0.000000 meters along route # Maximum depth: 1092.608942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.608942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.897743; captureRadius = 10; duration = 112; initialDepth = 1048.260262; finalDepth = 1042.608942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.608942 # Seafloor depth:-1092.608942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.489460 meters # Minimum depth: 1098.260262 meters looking forward 0.000000 meters along route # Maximum depth: 1098.260262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.260262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720421; longitude = -121.898700; captureRadius = 10; duration = 112; initialDepth = 1054.565072; finalDepth = 1048.260262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.260262 # Seafloor depth:-1098.260262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.489460 meters # Minimum depth: 1104.565072 meters looking forward 0.000000 meters along route # Maximum depth: 1104.565072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.565072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.899629; captureRadius = 10; duration = 112; initialDepth = 1050.596579; finalDepth = 1054.565072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.565072 # Seafloor depth:-1104.565072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.489460 meters # Minimum depth: 1100.596579 meters looking forward 0.000000 meters along route # Maximum depth: 1100.596579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.596579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719287; longitude = -121.900635; captureRadius = 10; duration = 112; initialDepth = 1044.207611; finalDepth = 1050.596579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.596579 # Seafloor depth:-1100.596579 # 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 88 # Segment length 112.489460 meters # Minimum depth: 1094.207611 meters looking forward 0.000000 meters along route # Maximum depth: 1094.207611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.207611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718642; longitude = -121.901736; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1053.985241; finalDepth = 1044.207611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.207611 # Seafloor depth:-1094.207611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 112.489460 meters # Minimum depth: 1103.985241 meters looking forward 0.000000 meters along route # Maximum depth: 1103.985241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.985241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.900576; captureRadius = 10; duration = 112; initialDepth = 1057.813775; finalDepth = 1053.985241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.985241 # Seafloor depth:-1103.985241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 112.489460 meters # Minimum depth: 1107.813775 meters looking forward 0.000000 meters along route # Maximum depth: 1107.813775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.813775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.899633; captureRadius = 10; duration = 112; initialDepth = 1047.961934; finalDepth = 1057.813775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.813775 # Seafloor depth:-1107.813775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 112.489460 meters # Minimum depth: 1097.961934 meters looking forward 0.000000 meters along route # Maximum depth: 1097.961934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.961934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.898690; captureRadius = 10; duration = 112; initialDepth = 1043.079598; finalDepth = 1047.961934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.961934 # Seafloor depth:-1097.961934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 112.489460 meters # Minimum depth: 1093.079598 meters looking forward 0.000000 meters along route # Maximum depth: 1093.079598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.079598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.897747; captureRadius = 10; duration = 112; initialDepth = 1044.462181; finalDepth = 1043.079598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.079598 # Seafloor depth:-1093.079598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 112.489460 meters # Minimum depth: 1094.462181 meters looking forward 0.000000 meters along route # Maximum depth: 1094.462181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.462181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722111; longitude = -121.896766; captureRadius = 10; duration = 112; initialDepth = 1043.304757; finalDepth = 1044.462181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.462181 # Seafloor depth:-1094.462181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 112.489460 meters # Minimum depth: 1093.304757 meters looking forward 0.000000 meters along route # Maximum depth: 1093.304757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.304757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.895861; captureRadius = 10; duration = 112; initialDepth = 1043.896261; finalDepth = 1043.304757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.304757 # Seafloor depth:-1093.304757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 112.489460 meters # Minimum depth: 1093.896261 meters looking forward 0.000000 meters along route # Maximum depth: 1093.896261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.896261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.894918; captureRadius = 10; duration = 112; initialDepth = 1043.881989; finalDepth = 1043.896261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.896261 # Seafloor depth:-1093.896261 # 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 87 # Segment length 112.489460 meters # Minimum depth: 1093.881989 meters looking forward 0.000000 meters along route # Maximum depth: 1093.881989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.881989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723733; longitude = -121.893998; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.681997; finalDepth = 1043.881989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.881989 # Seafloor depth:-1093.881989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 112.489460 meters # Minimum depth: 1094.681997 meters looking forward 0.000000 meters along route # Maximum depth: 1094.681997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.681997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.895394; captureRadius = 10; duration = 112; initialDepth = 1044.221751; finalDepth = 1044.681997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.681997 # Seafloor depth:-1094.681997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 112.489460 meters # Minimum depth: 1094.221751 meters looking forward 0.000000 meters along route # Maximum depth: 1094.221751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.221751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.896337; captureRadius = 10; duration = 112; initialDepth = 1044.376536; finalDepth = 1044.221751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.221751 # Seafloor depth:-1094.221751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 112.489460 meters # Minimum depth: 1094.376536 meters looking forward 0.000000 meters along route # Maximum depth: 1094.376536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.376536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722342; longitude = -121.897318; captureRadius = 10; duration = 112; initialDepth = 1043.138682; finalDepth = 1044.376536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.376536 # Seafloor depth:-1094.376536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 112.489460 meters # Minimum depth: 1093.138682 meters looking forward 0.000000 meters along route # Maximum depth: 1093.138682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.138682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.898223; captureRadius = 10; duration = 112; initialDepth = 1047.625113; finalDepth = 1043.138682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.138682 # Seafloor depth:-1093.138682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 112.489460 meters # Minimum depth: 1097.625113 meters looking forward 0.000000 meters along route # Maximum depth: 1097.625113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.625113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721208; longitude = -121.899253; captureRadius = 10; duration = 112; initialDepth = 1057.374112; finalDepth = 1047.625113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.625113 # Seafloor depth:-1097.625113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 112.489460 meters # Minimum depth: 1107.374112 meters looking forward 0.000000 meters along route # Maximum depth: 1107.374112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.374112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720560; longitude = -121.900359; captureRadius = 10; duration = 112; initialDepth = 1047.574230; finalDepth = 1057.374112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.374112 # Seafloor depth:-1107.374112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 112.489460 meters # Minimum depth: 1097.574230 meters looking forward 0.000000 meters along route # Maximum depth: 1097.574230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.574230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719911; longitude = -121.901464; captureRadius = 10; duration = 112; initialDepth = 1045.354370; finalDepth = 1047.574230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.57423 # Seafloor depth:-1097.574230 # 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 86 # Segment length 112.489460 meters # Minimum depth: 1095.354370 meters looking forward 0.000000 meters along route # Maximum depth: 1095.354370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.354370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719374; longitude = -121.902381; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1046.518258; finalDepth = 1045.354370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.35437 # Seafloor depth:-1095.354370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 112.489460 meters # Minimum depth: 1096.518258 meters looking forward 0.000000 meters along route # Maximum depth: 1096.518258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.518258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.901527; captureRadius = 10; duration = 112; initialDepth = 1049.634939; finalDepth = 1046.518258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.518258 # Seafloor depth:-1096.518258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 112.489460 meters # Minimum depth: 1099.634939 meters looking forward 0.000000 meters along route # Maximum depth: 1099.634939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.634939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.900584; captureRadius = 10; duration = 112; initialDepth = 1048.030422; finalDepth = 1049.634939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.634939 # Seafloor depth:-1099.634939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 112.489460 meters # Minimum depth: 1098.030422 meters looking forward 0.000000 meters along route # Maximum depth: 1098.030422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.030422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.899641; captureRadius = 10; duration = 112; initialDepth = 1045.575130; finalDepth = 1048.030422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.030422 # Seafloor depth:-1098.030422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 112.489460 meters # Minimum depth: 1095.575130 meters looking forward 0.000000 meters along route # Maximum depth: 1095.575130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.575130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.898698; captureRadius = 10; duration = 112; initialDepth = 1044.622930; finalDepth = 1045.575130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.57513 # Seafloor depth:-1095.575130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 112.489460 meters # Minimum depth: 1094.622930 meters looking forward 0.000000 meters along route # Maximum depth: 1094.622930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.622930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.897755; captureRadius = 10; duration = 112; initialDepth = 1044.974115; finalDepth = 1044.622930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.62293 # Seafloor depth:-1094.622930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 112.489460 meters # Minimum depth: 1094.974115 meters looking forward 0.000000 meters along route # Maximum depth: 1094.974115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.974115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723221; longitude = -121.896766; captureRadius = 10; duration = 112; initialDepth = 1044.881033; finalDepth = 1044.974115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.974115 # Seafloor depth:-1094.974115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 112.489460 meters # Minimum depth: 1094.881033 meters looking forward 0.000000 meters along route # Maximum depth: 1094.881033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.881033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723869; longitude = -121.895660; captureRadius = 10; duration = 112; initialDepth = 1048.782013; finalDepth = 1044.881033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.881033 # Seafloor depth:-1094.881033 # 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 85 # Segment length 112.489460 meters # Minimum depth: 1098.782013 meters looking forward 0.000000 meters along route # Maximum depth: 1098.782013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.782013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724465; longitude = -121.894643; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1046.956888; finalDepth = 1048.782013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.782013 # Seafloor depth:-1098.782013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 112.489460 meters # Minimum depth: 1096.956888 meters looking forward 0.000000 meters along route # Maximum depth: 1096.956888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.956888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.896345; captureRadius = 10; duration = 112; initialDepth = 1046.394127; finalDepth = 1046.956888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.956888 # Seafloor depth:-1096.956888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 112.489460 meters # Minimum depth: 1096.394127 meters looking forward 0.000000 meters along route # Maximum depth: 1096.394127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.394127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723452; longitude = -121.897318; captureRadius = 10; duration = 112; initialDepth = 1045.487437; finalDepth = 1046.394127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.394127 # Seafloor depth:-1096.394127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 112.489460 meters # Minimum depth: 1095.487437 meters looking forward 0.000000 meters along route # Maximum depth: 1095.487437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.487437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.898231; captureRadius = 10; duration = 112; initialDepth = 1046.269601; finalDepth = 1045.487437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.487437 # Seafloor depth:-1095.487437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 112.489460 meters # Minimum depth: 1096.269601 meters looking forward 0.000000 meters along route # Maximum depth: 1096.269601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.269601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.899174; captureRadius = 10; duration = 112; initialDepth = 1048.440393; finalDepth = 1046.269601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.269601 # Seafloor depth:-1096.269601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 112.489460 meters # Minimum depth: 1098.440393 meters looking forward 0.000000 meters along route # Maximum depth: 1098.440393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.440393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.900117; captureRadius = 10; duration = 112; initialDepth = 1048.199072; finalDepth = 1048.440393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.440393 # Seafloor depth:-1098.440393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 112.489460 meters # Minimum depth: 1098.199072 meters looking forward 0.000000 meters along route # Maximum depth: 1098.199072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.199072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.901060; captureRadius = 10; duration = 112; initialDepth = 1049.842855; finalDepth = 1048.199072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.199072 # Seafloor depth:-1098.199072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 112.489460 meters # Minimum depth: 1099.842855 meters looking forward 0.000000 meters along route # Maximum depth: 1099.842855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.842855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720698; longitude = -121.902017; captureRadius = 10; duration = 112; initialDepth = 1047.633606; finalDepth = 1049.842855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.842855 # Seafloor depth:-1099.842855 # 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 84 # Segment length 112.489460 meters # Minimum depth: 1097.633606 meters looking forward 0.000000 meters along route # Maximum depth: 1097.633606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.633606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720106; longitude = -121.903027; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.474455; finalDepth = 1047.633606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.633606 # Seafloor depth:-1097.633606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 112.489460 meters # Minimum depth: 1094.474455 meters looking forward 0.000000 meters along route # Maximum depth: 1094.474455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.474455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718971; longitude = -121.902017; captureRadius = 10; duration = 112; initialDepth = 1043.905229; finalDepth = 1044.474455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.474455 # Seafloor depth:-1094.474455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 112.489460 meters # Minimum depth: 1093.905229 meters looking forward 0.000000 meters along route # Maximum depth: 1093.905229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.905229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.901348; captureRadius = 10; duration = 112; initialDepth = 1043.773023; finalDepth = 1043.905229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.905229 # Seafloor depth:-1093.905229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 112.489460 meters # Minimum depth: 1093.773023 meters looking forward 0.000000 meters along route # Maximum depth: 1093.773023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.773023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.900610; captureRadius = 10; duration = 112; initialDepth = 1041.570344; finalDepth = 1043.773023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.773023 # Seafloor depth:-1093.773023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 112.489460 meters # Minimum depth: 1091.570344 meters looking forward 0.000000 meters along route # Maximum depth: 1091.570344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.570344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.899873; captureRadius = 10; duration = 112; initialDepth = 1039.055969; finalDepth = 1041.570344; 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:1041.570344 # Seafloor depth:-1091.570344 # 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 83 # Segment length 112.489460 meters # Minimum depth: 1089.055969 meters looking forward 0.000000 meters along route # Maximum depth: 1089.055969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.055969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715800; longitude = -121.899197; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.476139; finalDepth = 1039.055969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.055969 # Seafloor depth:-1089.055969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 112.489460 meters # Minimum depth: 1093.476139 meters looking forward 0.000000 meters along route # Maximum depth: 1093.476139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.476139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716577; longitude = -121.897871; captureRadius = 10; duration = 112; initialDepth = 1039.157476; finalDepth = 1043.476139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.476139 # Seafloor depth:-1093.476139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 112.489460 meters # Minimum depth: 1089.157476 meters looking forward 0.000000 meters along route # Maximum depth: 1089.157476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.157476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.896958; captureRadius = 10; duration = 112; initialDepth = 1038.423915; finalDepth = 1039.157476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.157476 # Seafloor depth:-1089.157476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 112.489460 meters # Minimum depth: 1088.423915 meters looking forward 0.000000 meters along route # Maximum depth: 1088.423915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.423915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717666; longitude = -121.896015; captureRadius = 10; duration = 112; initialDepth = 1038.496605; finalDepth = 1038.423915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.423915 # Seafloor depth:-1088.423915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 112.489460 meters # Minimum depth: 1088.496605 meters looking forward 0.000000 meters along route # Maximum depth: 1088.496605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.496605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.895072; captureRadius = 10; duration = 112; initialDepth = 1037.652639; finalDepth = 1038.496605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.496605 # Seafloor depth:-1088.496605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 112.489460 meters # Minimum depth: 1087.652639 meters looking forward 0.000000 meters along route # Maximum depth: 1087.652639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.652639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.894129; captureRadius = 10; duration = 112; initialDepth = 1039.335307; finalDepth = 1037.652639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.652639 # Seafloor depth:-1087.652639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 112.489460 meters # Minimum depth: 1089.335307 meters looking forward 0.000000 meters along route # Maximum depth: 1089.335307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.335307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719332; longitude = -121.893172; captureRadius = 10; duration = 112; initialDepth = 1036.051627; finalDepth = 1039.335307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.335307 # Seafloor depth:-1089.335307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 112.489460 meters # Minimum depth: 1086.051627 meters looking forward 0.000000 meters along route # Maximum depth: 1086.051627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.051627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.892243; captureRadius = 10; duration = 112; initialDepth = 1037.171997; finalDepth = 1036.051627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.051627 # Seafloor depth:-1086.051627 # 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 82 # Segment length 112.489460 meters # Minimum depth: 1087.171997 meters looking forward 0.000000 meters along route # Maximum depth: 1087.171997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.171997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720499; longitude = -121.891181; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1037.606014; finalDepth = 1037.171997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.171997 # Seafloor depth:-1087.171997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 112.489460 meters # Minimum depth: 1087.606014 meters looking forward 0.000000 meters along route # Maximum depth: 1087.606014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.606014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.892718; captureRadius = 10; duration = 112; initialDepth = 1038.285705; finalDepth = 1037.606014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.606014 # Seafloor depth:-1087.606014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 112.489460 meters # Minimum depth: 1088.285705 meters looking forward 0.000000 meters along route # Maximum depth: 1088.285705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.285705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.893661; captureRadius = 10; duration = 112; initialDepth = 1037.330604; finalDepth = 1038.285705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.285705 # Seafloor depth:-1088.285705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 112.489460 meters # Minimum depth: 1087.330604 meters looking forward 0.000000 meters along route # Maximum depth: 1087.330604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.330604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.894604; captureRadius = 10; duration = 112; initialDepth = 1038.568636; finalDepth = 1037.330604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.330604 # Seafloor depth:-1087.330604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 112.489460 meters # Minimum depth: 1088.568636 meters looking forward 0.000000 meters along route # Maximum depth: 1088.568636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.568636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.895547; captureRadius = 10; duration = 112; initialDepth = 1038.981290; finalDepth = 1038.568636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.568636 # Seafloor depth:-1088.568636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 112.489460 meters # Minimum depth: 1088.981290 meters looking forward 0.000000 meters along route # Maximum depth: 1088.981290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.981290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.896490; captureRadius = 10; duration = 112; initialDepth = 1041.919671; finalDepth = 1038.981290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.98129 # Seafloor depth:-1088.981290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 112.489460 meters # Minimum depth: 1091.919671 meters looking forward 0.000000 meters along route # Maximum depth: 1091.919671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.919671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.897433; captureRadius = 10; duration = 112; initialDepth = 1044.754487; finalDepth = 1041.919671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.919671 # Seafloor depth:-1091.919671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 112.489460 meters # Minimum depth: 1094.754487 meters looking forward 0.000000 meters along route # Maximum depth: 1094.754487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.754487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716809; longitude = -121.898424; captureRadius = 10; duration = 112; initialDepth = 1040.912170; finalDepth = 1044.754487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.754487 # Seafloor depth:-1094.754487 # 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 81 # Segment length 112.489460 meters # Minimum depth: 1090.912170 meters looking forward 0.000000 meters along route # Maximum depth: 1090.912170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.912170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716166; longitude = -121.899520; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1047.323464; finalDepth = 1040.912170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.91217 # Seafloor depth:-1090.912170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 112.489460 meters # Minimum depth: 1097.323464 meters looking forward 0.000000 meters along route # Maximum depth: 1097.323464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.323464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.898852; captureRadius = 10; duration = 112; initialDepth = 1043.379533; finalDepth = 1047.323464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.323464 # Seafloor depth:-1097.323464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 112.489460 meters # Minimum depth: 1093.379533 meters looking forward 0.000000 meters along route # Maximum depth: 1093.379533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.379533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717688; longitude = -121.897871; captureRadius = 10; duration = 112; initialDepth = 1038.491136; finalDepth = 1043.379533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.379533 # Seafloor depth:-1093.379533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 112.489460 meters # Minimum depth: 1088.491136 meters looking forward 0.000000 meters along route # Maximum depth: 1088.491136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.491136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.896966; captureRadius = 10; duration = 112; initialDepth = 1038.472416; finalDepth = 1038.491136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.491136 # Seafloor depth:-1088.491136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 112.489460 meters # Minimum depth: 1088.472416 meters looking forward 0.000000 meters along route # Maximum depth: 1088.472416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.472416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.896023; captureRadius = 10; duration = 112; initialDepth = 1038.682160; finalDepth = 1038.472416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.472416 # Seafloor depth:-1088.472416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 112.489460 meters # Minimum depth: 1088.682160 meters looking forward 0.000000 meters along route # Maximum depth: 1088.682160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.682160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.895080; captureRadius = 10; duration = 112; initialDepth = 1039.041526; finalDepth = 1038.682160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.68216 # Seafloor depth:-1088.682160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 112.489460 meters # Minimum depth: 1089.041526 meters looking forward 0.000000 meters along route # Maximum depth: 1089.041526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.041526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719956; longitude = -121.894002; captureRadius = 10; duration = 112; initialDepth = 1039.706030; finalDepth = 1039.041526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.041526 # Seafloor depth:-1089.041526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 112.489460 meters # Minimum depth: 1089.706030 meters looking forward 0.000000 meters along route # Maximum depth: 1089.706030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.706030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720604; longitude = -121.892896; captureRadius = 10; duration = 112; initialDepth = 1037.722229; finalDepth = 1039.706030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.70603 # Seafloor depth:-1089.706030 # 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 80 # Segment length 112.489460 meters # Minimum depth: 1087.722229 meters looking forward 0.000000 meters along route # Maximum depth: 1087.722229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.722229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721231; longitude = -121.891827; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1042.043322; finalDepth = 1037.722229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.722229 # Seafloor depth:-1087.722229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 112.489460 meters # Minimum depth: 1092.043322 meters looking forward 0.000000 meters along route # Maximum depth: 1092.043322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.043322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.893198; captureRadius = 10; duration = 112; initialDepth = 1042.123463; finalDepth = 1042.043322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.043322 # Seafloor depth:-1092.043322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 112.489460 meters # Minimum depth: 1092.123463 meters looking forward 0.000000 meters along route # Maximum depth: 1092.123463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.123463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.894141; captureRadius = 10; duration = 112; initialDepth = 1042.039837; finalDepth = 1042.123463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.123463 # Seafloor depth:-1092.123463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 112.489460 meters # Minimum depth: 1092.039837 meters looking forward 0.000000 meters along route # Maximum depth: 1092.039837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.039837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719863; longitude = -121.895107; captureRadius = 10; duration = 112; initialDepth = 1039.191913; finalDepth = 1042.039837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.039837 # Seafloor depth:-1092.039837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 112.489460 meters # Minimum depth: 1089.191913 meters looking forward 0.000000 meters along route # Maximum depth: 1089.191913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.191913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.896027; captureRadius = 10; duration = 112; initialDepth = 1039.561440; finalDepth = 1039.191913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.191913 # Seafloor depth:-1089.191913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 112.489460 meters # Minimum depth: 1089.561440 meters looking forward 0.000000 meters along route # Maximum depth: 1089.561440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.561440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718729; longitude = -121.897042; captureRadius = 10; duration = 112; initialDepth = 1042.397885; finalDepth = 1039.561440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.56144 # Seafloor depth:-1089.561440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 112.489460 meters # Minimum depth: 1092.397885 meters looking forward 0.000000 meters along route # Maximum depth: 1092.397885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.397885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718081; longitude = -121.898148; captureRadius = 10; duration = 112; initialDepth = 1046.332254; finalDepth = 1042.397885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.397885 # Seafloor depth:-1092.397885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 112.489460 meters # Minimum depth: 1096.332254 meters looking forward 0.000000 meters along route # Maximum depth: 1096.332254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.332254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717433; longitude = -121.899253; captureRadius = 10; duration = 112; initialDepth = 1042.978699; finalDepth = 1046.332254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.332254 # Seafloor depth:-1096.332254 # 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 79 # Segment length 112.489460 meters # Minimum depth: 1092.978699 meters looking forward 0.000000 meters along route # Maximum depth: 1092.978699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.978699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716898; longitude = -121.900165; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.856070; finalDepth = 1042.978699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.978699 # Seafloor depth:-1092.978699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 112.489460 meters # Minimum depth: 1093.856070 meters looking forward 0.000000 meters along route # Maximum depth: 1093.856070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.856070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717942; longitude = -121.899331; captureRadius = 10; duration = 112; initialDepth = 1041.887266; finalDepth = 1043.856070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.85607 # Seafloor depth:-1093.856070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 112.489460 meters # Minimum depth: 1091.887266 meters looking forward 0.000000 meters along route # Maximum depth: 1091.887266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.887266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718495; longitude = -121.898388; captureRadius = 10; duration = 112; initialDepth = 1042.589660; finalDepth = 1041.887266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.887266 # Seafloor depth:-1091.887266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 112.489460 meters # Minimum depth: 1092.589660 meters looking forward 0.000000 meters along route # Maximum depth: 1092.589660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.589660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.897445; captureRadius = 10; duration = 112; initialDepth = 1039.768502; finalDepth = 1042.589660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.58966 # Seafloor depth:-1092.589660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 112.489460 meters # Minimum depth: 1089.768502 meters looking forward 0.000000 meters along route # Maximum depth: 1089.768502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.768502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719608; longitude = -121.896489; captureRadius = 10; duration = 112; initialDepth = 1041.873316; finalDepth = 1039.768502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.768502 # Seafloor depth:-1089.768502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 112.489460 meters # Minimum depth: 1091.873316 meters looking forward 0.000000 meters along route # Maximum depth: 1091.873316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.873316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.895559; captureRadius = 10; duration = 112; initialDepth = 1043.317278; finalDepth = 1041.873316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.873316 # Seafloor depth:-1091.873316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 112.489460 meters # Minimum depth: 1093.317278 meters looking forward 0.000000 meters along route # Maximum depth: 1093.317278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.317278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720742; longitude = -121.894554; captureRadius = 10; duration = 112; initialDepth = 1044.683271; finalDepth = 1043.317278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.317278 # Seafloor depth:-1093.317278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 112.489460 meters # Minimum depth: 1094.683271 meters looking forward 0.000000 meters along route # Maximum depth: 1094.683271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.683271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721390; longitude = -121.893449; captureRadius = 10; duration = 112; initialDepth = 1038.313110; finalDepth = 1044.683271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.683271 # Seafloor depth:-1094.683271 # 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 78 # Segment length 112.489460 meters # Minimum depth: 1088.313110 meters looking forward 0.000000 meters along route # Maximum depth: 1088.313110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.313110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721963; longitude = -121.892472; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1052.398004; finalDepth = 1038.313110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.31311 # Seafloor depth:-1088.313110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 112.489460 meters # Minimum depth: 1102.398004 meters looking forward 0.000000 meters along route # Maximum depth: 1102.398004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.398004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.894149; captureRadius = 10; duration = 112; initialDepth = 1045.763058; finalDepth = 1052.398004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.398004 # Seafloor depth:-1102.398004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 112.489460 meters # Minimum depth: 1095.763058 meters looking forward 0.000000 meters along route # Maximum depth: 1095.763058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.763058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720973; longitude = -121.895107; captureRadius = 10; duration = 112; initialDepth = 1041.683722; finalDepth = 1045.763058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.763058 # Seafloor depth:-1095.763058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 112.489460 meters # Minimum depth: 1091.683722 meters looking forward 0.000000 meters along route # Maximum depth: 1091.683722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.683722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.896035; captureRadius = 10; duration = 112; initialDepth = 1042.291222; finalDepth = 1041.683722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.683722 # Seafloor depth:-1091.683722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 112.489460 meters # Minimum depth: 1092.291222 meters looking forward 0.000000 meters along route # Maximum depth: 1092.291222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.291222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.896978; captureRadius = 10; duration = 112; initialDepth = 1043.198961; finalDepth = 1042.291222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.291222 # Seafloor depth:-1092.291222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 112.489460 meters # Minimum depth: 1093.198961 meters looking forward 0.000000 meters along route # Maximum depth: 1093.198961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.198961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.897921; captureRadius = 10; duration = 112; initialDepth = 1043.931887; finalDepth = 1043.198961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.198961 # Seafloor depth:-1093.198961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 112.489460 meters # Minimum depth: 1093.931887 meters looking forward 0.000000 meters along route # Maximum depth: 1093.931887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.931887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.898864; captureRadius = 10; duration = 112; initialDepth = 1043.090230; finalDepth = 1043.931887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.931887 # Seafloor depth:-1093.931887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 112.489460 meters # Minimum depth: 1093.090230 meters looking forward 0.000000 meters along route # Maximum depth: 1093.090230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.090230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718218; longitude = -121.899807; captureRadius = 10; duration = 112; initialDepth = 1042.962219; finalDepth = 1043.090230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.09023 # Seafloor depth:-1093.090230 # 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 77 # Segment length 112.489460 meters # Minimum depth: 1092.962219 meters looking forward 0.000000 meters along route # Maximum depth: 1092.962219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.962219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717630; longitude = -121.900810; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1044.100390; finalDepth = 1042.962219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.962219 # Seafloor depth:-1092.962219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 112.489460 meters # Minimum depth: 1094.100390 meters looking forward 0.000000 meters along route # Maximum depth: 1094.100390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.100390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718774; longitude = -121.899806; captureRadius = 10; duration = 112; initialDepth = 1045.506572; finalDepth = 1044.100390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.10039 # Seafloor depth:-1094.100390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 112.489460 meters # Minimum depth: 1095.506572 meters looking forward 0.000000 meters along route # Maximum depth: 1095.506572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.506572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.898868; captureRadius = 10; duration = 112; initialDepth = 1044.026818; finalDepth = 1045.506572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.506572 # Seafloor depth:-1095.506572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 112.489460 meters # Minimum depth: 1094.026818 meters looking forward 0.000000 meters along route # Maximum depth: 1094.026818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.026818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.897925; captureRadius = 10; duration = 112; initialDepth = 1042.379621; finalDepth = 1044.026818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.026818 # Seafloor depth:-1094.026818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 112.489460 meters # Minimum depth: 1092.379621 meters looking forward 0.000000 meters along route # Maximum depth: 1092.379621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.379621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.896982; captureRadius = 10; duration = 112; initialDepth = 1042.881890; finalDepth = 1042.379621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.379621 # Seafloor depth:-1092.379621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 112.489460 meters # Minimum depth: 1092.881890 meters looking forward 0.000000 meters along route # Maximum depth: 1092.881890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.881890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.896039; captureRadius = 10; duration = 112; initialDepth = 1050.227096; finalDepth = 1042.881890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.88189 # Seafloor depth:-1092.881890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 112.489460 meters # Minimum depth: 1100.227096 meters looking forward 0.000000 meters along route # Maximum depth: 1100.227096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.227096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.895096; captureRadius = 10; duration = 112; initialDepth = 1049.983489; finalDepth = 1050.227096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.227096 # Seafloor depth:-1100.227096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 112.489460 meters # Minimum depth: 1099.983489 meters looking forward 0.000000 meters along route # Maximum depth: 1099.983489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.983489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.894153; captureRadius = 10; duration = 112; initialDepth = 1041.112244; finalDepth = 1049.983489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.983489 # Seafloor depth:-1099.983489 # 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 76 # Segment length 112.489460 meters # Minimum depth: 1091.112244 meters looking forward 0.000000 meters along route # Maximum depth: 1091.112244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.112244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722695; longitude = -121.893117; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1047.271054; finalDepth = 1041.112244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.112244 # Seafloor depth:-1091.112244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 112.489460 meters # Minimum depth: 1097.271054 meters looking forward 0.000000 meters along route # Maximum depth: 1097.271054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.271054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.894628; captureRadius = 10; duration = 112; initialDepth = 1043.192080; finalDepth = 1047.271054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.271054 # Seafloor depth:-1097.271054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 112.489460 meters # Minimum depth: 1093.192080 meters looking forward 0.000000 meters along route # Maximum depth: 1093.192080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.192080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.895571; captureRadius = 10; duration = 112; initialDepth = 1043.358437; finalDepth = 1043.192080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.19208 # Seafloor depth:-1093.192080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 112.489460 meters # Minimum depth: 1093.358437 meters looking forward 0.000000 meters along route # Maximum depth: 1093.358437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.358437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.896514; captureRadius = 10; duration = 112; initialDepth = 1043.250483; finalDepth = 1043.358437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.358437 # Seafloor depth:-1093.358437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 112.489460 meters # Minimum depth: 1093.250483 meters looking forward 0.000000 meters along route # Maximum depth: 1093.250483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.250483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.897457; captureRadius = 10; duration = 112; initialDepth = 1048.216290; finalDepth = 1043.250483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.250483 # Seafloor depth:-1093.250483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 112.489460 meters # Minimum depth: 1098.216290 meters looking forward 0.000000 meters along route # Maximum depth: 1098.216290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.216290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720139; longitude = -121.898424; captureRadius = 10; duration = 112; initialDepth = 1050.815418; finalDepth = 1048.216290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.21629 # Seafloor depth:-1098.216290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 112.489460 meters # Minimum depth: 1100.815418 meters looking forward 0.000000 meters along route # Maximum depth: 1100.815418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.815418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.899343; captureRadius = 10; duration = 112; initialDepth = 1047.105887; finalDepth = 1050.815418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.815418 # Seafloor depth:-1100.815418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 112.489460 meters # Minimum depth: 1097.105887 meters looking forward 0.000000 meters along route # Maximum depth: 1097.105887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.105887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719005; longitude = -121.900359; captureRadius = 10; duration = 112; initialDepth = 1044.673767; finalDepth = 1047.105887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.105887 # Seafloor depth:-1097.105887 # 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 75 # Segment length 112.489460 meters # Minimum depth: 1094.673767 meters looking forward 0.000000 meters along route # Maximum depth: 1094.673767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.673767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718362; longitude = -121.901455; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1049.540183; finalDepth = 1044.673767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.673767 # Seafloor depth:-1094.673767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 112.489460 meters # Minimum depth: 1099.540183 meters looking forward 0.000000 meters along route # Maximum depth: 1099.540183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.540183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.900762; captureRadius = 10; duration = 112; initialDepth = 1055.387596; finalDepth = 1049.540183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.540183 # Seafloor depth:-1099.540183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 112.489460 meters # Minimum depth: 1105.387596 meters looking forward 0.000000 meters along route # Maximum depth: 1105.387596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.387596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719884; longitude = -121.899806; captureRadius = 10; duration = 112; initialDepth = 1049.919387; finalDepth = 1055.387596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.387596 # Seafloor depth:-1105.387596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 112.489460 meters # Minimum depth: 1099.919387 meters looking forward 0.000000 meters along route # Maximum depth: 1099.919387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.919387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.898876; captureRadius = 10; duration = 112; initialDepth = 1042.815295; finalDepth = 1049.919387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.919387 # Seafloor depth:-1099.919387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 112.489460 meters # Minimum depth: 1092.815295 meters looking forward 0.000000 meters along route # Maximum depth: 1092.815295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.815295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.897933; captureRadius = 10; duration = 112; initialDepth = 1042.731295; finalDepth = 1042.815295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.815295 # Seafloor depth:-1092.815295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 112.489460 meters # Minimum depth: 1092.731295 meters looking forward 0.000000 meters along route # Maximum depth: 1092.731295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.731295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.896990; captureRadius = 10; duration = 112; initialDepth = 1043.382793; finalDepth = 1042.731295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.731295 # Seafloor depth:-1092.731295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 112.489460 meters # Minimum depth: 1093.382793 meters looking forward 0.000000 meters along route # Maximum depth: 1093.382793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.382793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722153; longitude = -121.895936; captureRadius = 10; duration = 112; initialDepth = 1043.499251; finalDepth = 1043.382793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.382793 # Seafloor depth:-1093.382793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 112.489460 meters # Minimum depth: 1093.499251 meters looking forward 0.000000 meters along route # Maximum depth: 1093.499251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.499251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722801; longitude = -121.894831; captureRadius = 10; duration = 112; initialDepth = 1043.103394; finalDepth = 1043.499251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.499251 # Seafloor depth:-1093.499251 # 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 74 # Segment length 112.489460 meters # Minimum depth: 1093.103394 meters looking forward 0.000000 meters along route # Maximum depth: 1093.103394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.103394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723427; longitude = -121.893762; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1043.100943; finalDepth = 1043.103394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.103394 # Seafloor depth:-1093.103394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.489460 meters # Minimum depth: 1093.100943 meters looking forward 0.000000 meters along route # Maximum depth: 1093.100943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.100943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.895108; captureRadius = 10; duration = 112; initialDepth = 1043.800495; finalDepth = 1043.100943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.100943 # Seafloor depth:-1093.100943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.489460 meters # Minimum depth: 1093.800495 meters looking forward 0.000000 meters along route # Maximum depth: 1093.800495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.800495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.896051; captureRadius = 10; duration = 112; initialDepth = 1042.674110; finalDepth = 1043.800495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.800495 # Seafloor depth:-1093.800495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.489460 meters # Minimum depth: 1092.674110 meters looking forward 0.000000 meters along route # Maximum depth: 1092.674110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.674110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.896994; captureRadius = 10; duration = 112; initialDepth = 1042.976872; finalDepth = 1042.674110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.67411 # Seafloor depth:-1092.674110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.489460 meters # Minimum depth: 1092.976872 meters looking forward 0.000000 meters along route # Maximum depth: 1092.976872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.976872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.897937; captureRadius = 10; duration = 112; initialDepth = 1047.076250; finalDepth = 1042.976872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.976872 # Seafloor depth:-1092.976872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.489460 meters # Minimum depth: 1097.076250 meters looking forward 0.000000 meters along route # Maximum depth: 1097.076250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.076250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720926; longitude = -121.898977; captureRadius = 10; duration = 112; initialDepth = 1059.667621; finalDepth = 1047.076250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.07625 # Seafloor depth:-1097.076250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.489460 meters # Minimum depth: 1109.667621 meters looking forward 0.000000 meters along route # Maximum depth: 1109.667621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.667621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720277; longitude = -121.900082; captureRadius = 10; duration = 112; initialDepth = 1047.673969; finalDepth = 1059.667621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.667621 # Seafloor depth:-1109.667621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 112.489460 meters # Minimum depth: 1097.673969 meters looking forward 0.000000 meters along route # Maximum depth: 1097.673969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.673969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719629; longitude = -121.901188; captureRadius = 10; duration = 112; initialDepth = 1046.451416; finalDepth = 1047.673969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.673969 # Seafloor depth:-1097.673969 # 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 73 # Segment length 112.489460 meters # Minimum depth: 1096.451416 meters looking forward 0.000000 meters along route # Maximum depth: 1096.451416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.451416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719094; longitude = -121.902101; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1048.195151; finalDepth = 1046.451416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.451416 # Seafloor depth:-1096.451416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 112.489460 meters # Minimum depth: 1098.195151 meters looking forward 0.000000 meters along route # Maximum depth: 1098.195151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.195151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720153; longitude = -121.901241; captureRadius = 10; duration = 112; initialDepth = 1057.082709; finalDepth = 1048.195151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.195151 # Seafloor depth:-1098.195151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 112.489460 meters # Minimum depth: 1107.082709 meters looking forward 0.000000 meters along route # Maximum depth: 1107.082709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.082709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720706; longitude = -121.900298; captureRadius = 10; duration = 112; initialDepth = 1047.181120; finalDepth = 1057.082709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.082709 # Seafloor depth:-1107.082709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 112.489460 meters # Minimum depth: 1097.181120 meters looking forward 0.000000 meters along route # Maximum depth: 1097.181120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.181120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.899355; captureRadius = 10; duration = 112; initialDepth = 1042.998321; finalDepth = 1047.181120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.18112 # Seafloor depth:-1097.181120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 112.489460 meters # Minimum depth: 1092.998321 meters looking forward 0.000000 meters along route # Maximum depth: 1092.998321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.998321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.898412; captureRadius = 10; duration = 112; initialDepth = 1043.414322; finalDepth = 1042.998321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.998321 # Seafloor depth:-1092.998321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 112.489460 meters # Minimum depth: 1093.414322 meters looking forward 0.000000 meters along route # Maximum depth: 1093.414322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.414322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.897469; captureRadius = 10; duration = 112; initialDepth = 1044.145398; finalDepth = 1043.414322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.414322 # Seafloor depth:-1093.414322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 112.489460 meters # Minimum depth: 1094.145398 meters looking forward 0.000000 meters along route # Maximum depth: 1094.145398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.145398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722939; longitude = -121.896489; captureRadius = 10; duration = 112; initialDepth = 1045.476484; finalDepth = 1044.145398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.145398 # Seafloor depth:-1094.145398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 112.489460 meters # Minimum depth: 1095.476484 meters looking forward 0.000000 meters along route # Maximum depth: 1095.476484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.476484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723587; longitude = -121.895384; captureRadius = 10; duration = 112; initialDepth = 1046.369019; finalDepth = 1045.476484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.476484 # Seafloor depth:-1095.476484 # 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 72 # Segment length 112.489460 meters # Minimum depth: 1096.369019 meters looking forward 0.000000 meters along route # Maximum depth: 1096.369019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.369019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724159; longitude = -121.894408; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1046.134790; finalDepth = 1046.369019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.369019 # Seafloor depth:-1096.369019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 112.489460 meters # Minimum depth: 1096.134790 meters looking forward 0.000000 meters along route # Maximum depth: 1096.134790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.134790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.896059; captureRadius = 10; duration = 112; initialDepth = 1045.164553; finalDepth = 1046.134790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.13479 # Seafloor depth:-1096.134790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 112.489460 meters # Minimum depth: 1095.164553 meters looking forward 0.000000 meters along route # Maximum depth: 1095.164553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.164553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723170; longitude = -121.897042; captureRadius = 10; duration = 112; initialDepth = 1044.487092; finalDepth = 1045.164553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.164553 # Seafloor depth:-1095.164553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 112.489460 meters # Minimum depth: 1094.487092 meters looking forward 0.000000 meters along route # Maximum depth: 1094.487092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.487092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.897945; captureRadius = 10; duration = 112; initialDepth = 1045.804232; finalDepth = 1044.487092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.487092 # Seafloor depth:-1094.487092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 112.489460 meters # Minimum depth: 1095.804232 meters looking forward 0.000000 meters along route # Maximum depth: 1095.804232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.804232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.898888; captureRadius = 10; duration = 112; initialDepth = 1048.532279; finalDepth = 1045.804232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.804232 # Seafloor depth:-1095.804232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 112.489460 meters # Minimum depth: 1098.532279 meters looking forward 0.000000 meters along route # Maximum depth: 1098.532279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.532279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.899831; captureRadius = 10; duration = 112; initialDepth = 1048.714390; finalDepth = 1048.532279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.532279 # Seafloor depth:-1098.532279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 112.489460 meters # Minimum depth: 1098.714390 meters looking forward 0.000000 meters along route # Maximum depth: 1098.714390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.714390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.900774; captureRadius = 10; duration = 112; initialDepth = 1047.044470; finalDepth = 1048.714390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.71439 # Seafloor depth:-1098.714390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 112.489460 meters # Minimum depth: 1097.044470 meters looking forward 0.000000 meters along route # Maximum depth: 1097.044470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.044470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720416; longitude = -121.901741; captureRadius = 10; duration = 112; initialDepth = 1046.852722; finalDepth = 1047.044470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.04447 # Seafloor depth:-1097.044470 # 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 71 # Segment length 112.489460 meters # Minimum depth: 1096.852722 meters looking forward 0.000000 meters along route # Maximum depth: 1096.852722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.852722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719826; longitude = -121.902746; captureRadius = 10; duration = 112; # abortOnTimeout = True; initialDepth = 1052.101651; finalDepth = 1046.852722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.852722 # Seafloor depth:-1096.852722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 112.489460 meters # Minimum depth: 1102.101651 meters looking forward 0.000000 meters along route # Maximum depth: 1102.101651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.101651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.901721; captureRadius = 10; duration = 112; initialDepth = 1048.559387; finalDepth = 1052.101651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.101651 # Seafloor depth:-1102.101651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 112.489460 meters # Minimum depth: 1098.559387 meters looking forward 0.000000 meters along route # Maximum depth: 1098.559387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.559387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.900778; captureRadius = 10; duration = 112; initialDepth = 1045.501372; finalDepth = 1048.559387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.559387 # Seafloor depth:-1098.559387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 112.489460 meters # Minimum depth: 1095.501372 meters looking forward 0.000000 meters along route # Maximum depth: 1095.501372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.501372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722105; longitude = -121.899806; captureRadius = 10; duration = 112; initialDepth = 1044.495821; finalDepth = 1045.501372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.501372 # Seafloor depth:-1095.501372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 112.489460 meters # Minimum depth: 1094.495821 meters looking forward 0.000000 meters along route # Maximum depth: 1094.495821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.495821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.898892; captureRadius = 10; duration = 112; initialDepth = 1046.097280; finalDepth = 1044.495821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.495821 # Seafloor depth:-1094.495821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 112.489460 meters # Minimum depth: 1096.097280 meters looking forward 0.000000 meters along route # Maximum depth: 1096.097280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.097280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.897949; captureRadius = 10; duration = 112; initialDepth = 1047.726402; finalDepth = 1046.097280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.09728 # Seafloor depth:-1096.097280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 112.489460 meters # Minimum depth: 1097.726402 meters looking forward 0.000000 meters along route # Maximum depth: 1097.726402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.726402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.897006; captureRadius = 10; duration = 112; initialDepth = 1049.095770; finalDepth = 1047.726402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.726402 # Seafloor depth:-1097.726402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 112.489460 meters # Minimum depth: 1099.095770 meters looking forward 0.000000 meters along route # Maximum depth: 1099.095770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1093.120286 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.095770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.896063; captureRadius = 10; duration = 112; initialDepth = 1052.499512; finalDepth = 1049.095770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.09577 # Seafloor depth:-1099.095770 # 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 behavior to get back to start of line 1 # Segment length 112.489460 meters # Minimum depth: 1102.499512 meters looking forward 0.000000 meters along route # Maximum depth: 1102.499512 meters looking forward 0.000000 meters along route # Vehicle depth: 1052.499512 meters behavior waypoint { latitude = 35.724891; longitude = -121.895053; captureRadius = 10; duration = 263; depth = 1052.499512; 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 1052.499512 meters set by local depth and desired altitude behavior descend { duration = 3172; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1042.499512; 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 112.489460 meters # Minimum depth: 1102.499512 meters looking forward 0.000000 meters along route # Maximum depth: 1102.499512 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.724891; longitude = -121.895053; 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; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.499512 # Seafloor depth:-1102.499512 # 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; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 280.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 280.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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; } # ####################################################### #######################################################