# 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: portLedge_longRouteV2.rte # Mission File: portLedge_longRouteV2.cfg # Distance: 4996.072003 (m) # Estimated Time: 5086 (s) 1.413 (hr) # Abort Time: 6611 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 11 # Route Points: 100 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 20 (m) # Minimum Vehicle Altitude: 25 (m) # Abort Vehicle Altitude: 15 (m) # Maximum Vehicle Depth: 85.487944 (m) # Abort Vehicle Depth: 97.987944 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 50 (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 -121.934464 36.696097 -97.987944 0.000000 1 # 1 -121.944056 36.699178 -97.200394 922.574804 1 # 2 -121.944556 36.698152 -96.016466 1044.849776 1 # 3 -121.936597 36.695674 -97.235584 1807.183392 1 # 4 -121.937110 36.694744 -96.877686 1920.078946 1 # 5 -121.944870 36.697271 -95.094667 2667.886470 1 # 6 -121.945432 36.696294 -96.089705 2787.338614 1 # 7 -121.937717 36.693962 -95.879700 3523.549960 1 # 8 -121.938605 36.692943 -92.724283 3661.658299 1 # 9 -121.943701 36.694313 -92.019089 4141.642210 1 # 10 -121.934397 36.696096 -97.980890 4996.072003 1 # # A total of 100 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 6611; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 85.487944; abortDepth = 97.987944; minAltitude = 50.000000; abortAltitude = 15.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; 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 10 # Segment length 50.387648 meters # Minimum depth: 97.980890 meters looking forward 0.000000 meters along route # Maximum depth: 97.980890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.980890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696096; longitude = -121.934397; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 77.886786; finalDepth = 77.980890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.98089 # Seafloor depth:-97.980890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 97.886786 meters looking forward 0.000000 meters along route # Maximum depth: 97.886786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.886786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696047; longitude = -121.934652; captureRadius = 10; duration = 50; initialDepth = 77.237991; finalDepth = 77.886786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.886786 # Seafloor depth:-97.886786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 97.237991 meters looking forward 0.000000 meters along route # Maximum depth: 97.237991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.237991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695940; longitude = -121.935212; captureRadius = 10; duration = 50; initialDepth = 77.108340; finalDepth = 77.237991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.237991 # Seafloor depth:-97.237991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 97.108340 meters looking forward 0.000000 meters along route # Maximum depth: 97.108340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.108340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695833; longitude = -121.935771; captureRadius = 10; duration = 50; initialDepth = 77.256159; finalDepth = 77.108340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.10834 # Seafloor depth:-97.108340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 97.256159 meters looking forward 0.000000 meters along route # Maximum depth: 97.256159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.256159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695725; longitude = -121.936331; captureRadius = 10; duration = 50; initialDepth = 77.117263; finalDepth = 77.256159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.256159 # Seafloor depth:-97.256159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 97.117263 meters looking forward 0.000000 meters along route # Maximum depth: 97.117263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.117263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695618; longitude = -121.936891; captureRadius = 10; duration = 50; initialDepth = 76.971789; finalDepth = 77.117263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.117263 # Seafloor depth:-97.117263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 96.971789 meters looking forward 0.000000 meters along route # Maximum depth: 96.971789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.971789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695511; longitude = -121.937451; captureRadius = 10; duration = 50; initialDepth = 75.710928; finalDepth = 76.971789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.971789 # Seafloor depth:-96.971789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 95.710928 meters looking forward 0.000000 meters along route # Maximum depth: 95.710928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 75.710928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695404; longitude = -121.938010; captureRadius = 10; duration = 50; initialDepth = 68.592972; finalDepth = 75.710928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:75.710928 # Seafloor depth:-95.710928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 88.592972 meters looking forward 0.000000 meters along route # Maximum depth: 88.592972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 68.592972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695296; longitude = -121.938570; captureRadius = 10; duration = 50; initialDepth = 62.644642; finalDepth = 68.592972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:68.592972 # Seafloor depth:-88.592972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 82.644642 meters looking forward 0.000000 meters along route # Maximum depth: 82.644642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 62.644642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695189; longitude = -121.939130; captureRadius = 10; duration = 50; initialDepth = 58.653506; finalDepth = 62.644642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:62.644642 # Seafloor depth:-82.644642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 78.653506 meters looking forward 0.000000 meters along route # Maximum depth: 78.653506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 58.653506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695082; longitude = -121.939690; captureRadius = 10; duration = 50; initialDepth = 61.437523; finalDepth = 58.653506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:58.653506 # Seafloor depth:-78.653506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 81.437523 meters looking forward 0.000000 meters along route # Maximum depth: 81.437523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 61.437523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694974; longitude = -121.940249; captureRadius = 10; duration = 50; initialDepth = 61.442697; finalDepth = 61.437523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:61.437523 # Seafloor depth:-81.437523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 81.442697 meters looking forward 0.000000 meters along route # Maximum depth: 81.442697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 61.442697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694865; longitude = -121.940819; captureRadius = 10; duration = 50; initialDepth = 61.884472; finalDepth = 61.442697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:61.442697 # Seafloor depth:-81.442697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 81.884472 meters looking forward 0.000000 meters along route # Maximum depth: 81.884472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 61.884472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694760; longitude = -121.941369; captureRadius = 10; duration = 50; initialDepth = 66.562707; finalDepth = 61.884472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:61.884472 # Seafloor depth:-81.884472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 86.562707 meters looking forward 0.000000 meters along route # Maximum depth: 86.562707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 66.562707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694653; longitude = -121.941928; captureRadius = 10; duration = 50; initialDepth = 67.587520; finalDepth = 66.562707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:66.562707 # Seafloor depth:-86.562707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 87.587520 meters looking forward 0.000000 meters along route # Maximum depth: 87.587520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 67.587520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694545; longitude = -121.942488; captureRadius = 10; duration = 50; initialDepth = 70.048706; finalDepth = 67.587520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:67.58752 # Seafloor depth:-87.587520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 50.387648 meters # Minimum depth: 90.048706 meters looking forward 0.000000 meters along route # Maximum depth: 90.048706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 70.048706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694438; longitude = -121.943048; captureRadius = 10; duration = 50; initialDepth = 72.019089; finalDepth = 70.048706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:70.048706 # Seafloor depth:-90.048706 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 50.387648 meters # Minimum depth: 92.019089 meters looking forward 0.000000 meters along route # Maximum depth: 92.019089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 72.019089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694313; longitude = -121.943701; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 70.702894; finalDepth = 72.019089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:72.019089 # Seafloor depth:-92.019089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 90.702894 meters looking forward 0.000000 meters along route # Maximum depth: 90.702894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 70.702894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694168; longitude = -121.943160; captureRadius = 10; duration = 50; initialDepth = 69.561898; finalDepth = 70.702894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:70.702894 # Seafloor depth:-90.702894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 89.561898 meters looking forward 0.000000 meters along route # Maximum depth: 89.561898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 69.561898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694017; longitude = -121.942600; captureRadius = 10; duration = 50; initialDepth = 65.597926; finalDepth = 69.561898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:69.561898 # Seafloor depth:-89.561898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 85.597926 meters looking forward 0.000000 meters along route # Maximum depth: 85.597926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 65.597926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693867; longitude = -121.942040; captureRadius = 10; duration = 50; initialDepth = 64.670963; finalDepth = 65.597926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:65.597926 # Seafloor depth:-85.597926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 84.670963 meters looking forward 0.000000 meters along route # Maximum depth: 84.670963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 64.670963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693716; longitude = -121.941481; captureRadius = 10; duration = 50; initialDepth = 68.777072; finalDepth = 64.670963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:64.670963 # Seafloor depth:-84.670963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 88.777072 meters looking forward 0.000000 meters along route # Maximum depth: 88.777072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 68.777072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693566; longitude = -121.940921; captureRadius = 10; duration = 50; initialDepth = 69.791167; finalDepth = 68.777072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:68.777072 # Seafloor depth:-88.777072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 89.791167 meters looking forward 0.000000 meters along route # Maximum depth: 89.791167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 69.791167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693415; longitude = -121.940361; captureRadius = 10; duration = 50; initialDepth = 70.829003; finalDepth = 69.791167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:69.791167 # Seafloor depth:-89.791167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 90.829003 meters looking forward 0.000000 meters along route # Maximum depth: 90.829003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 70.829003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693265; longitude = -121.939802; captureRadius = 10; duration = 50; initialDepth = 71.926338; finalDepth = 70.829003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:70.829003 # Seafloor depth:-90.829003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 50.387648 meters # Minimum depth: 91.926338 meters looking forward 0.000000 meters along route # Maximum depth: 91.926338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 71.926338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693114; longitude = -121.939242; captureRadius = 10; duration = 50; initialDepth = 72.724283; finalDepth = 71.926338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:71.926338 # Seafloor depth:-91.926338 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 50.387648 meters # Minimum depth: 92.724283 meters looking forward 0.000000 meters along route # Maximum depth: 92.724283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 72.724283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692943; longitude = -121.938605; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 73.169152; finalDepth = 72.724283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:72.724283 # Seafloor depth:-92.724283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.387648 meters # Minimum depth: 93.169152 meters looking forward 0.000000 meters along route # Maximum depth: 93.169152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 73.169152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693111; longitude = -121.938458; captureRadius = 10; duration = 50; initialDepth = 74.400950; finalDepth = 73.169152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:73.169152 # Seafloor depth:-93.169152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.387648 meters # Minimum depth: 94.400950 meters looking forward 0.000000 meters along route # Maximum depth: 94.400950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.400950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693512; longitude = -121.938109; captureRadius = 10; duration = 50; initialDepth = 75.879700; finalDepth = 74.400950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:74.40095 # Seafloor depth:-94.400950 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 50.387648 meters # Minimum depth: 95.879700 meters looking forward 0.000000 meters along route # Maximum depth: 95.879700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 75.879700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693962; longitude = -121.937717; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 73.931138; finalDepth = 75.879700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:75.8797 # Seafloor depth:-95.879700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 93.931138 meters looking forward 0.000000 meters along route # Maximum depth: 93.931138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 73.931138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694085; longitude = -121.938122; captureRadius = 10; duration = 50; initialDepth = 67.076549; finalDepth = 73.931138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:73.931138 # Seafloor depth:-93.931138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 87.076549 meters looking forward 0.000000 meters along route # Maximum depth: 87.076549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 67.076549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694254; longitude = -121.938682; captureRadius = 10; duration = 50; initialDepth = 60.563883; finalDepth = 67.076549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:67.076549 # Seafloor depth:-87.076549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 80.563883 meters looking forward 0.000000 meters along route # Maximum depth: 80.563883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 60.563883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694423; longitude = -121.939242; captureRadius = 10; duration = 50; initialDepth = 59.451495; finalDepth = 60.563883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:60.563883 # Seafloor depth:-80.563883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 79.451495 meters looking forward 0.000000 meters along route # Maximum depth: 79.451495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 59.451495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694595; longitude = -121.939810; captureRadius = 10; duration = 50; initialDepth = 59.405202; finalDepth = 59.451495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:59.451495 # Seafloor depth:-79.451495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 79.405202 meters looking forward 0.000000 meters along route # Maximum depth: 79.405202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 59.405202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694761; longitude = -121.940361; captureRadius = 10; duration = 50; initialDepth = 61.991969; finalDepth = 59.405202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:59.405202 # Seafloor depth:-79.405202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 81.991969 meters looking forward 0.000000 meters along route # Maximum depth: 81.991969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 61.991969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694930; longitude = -121.940921; captureRadius = 10; duration = 50; initialDepth = 63.540673; finalDepth = 61.991969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:61.991969 # Seafloor depth:-81.991969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 83.540673 meters looking forward 0.000000 meters along route # Maximum depth: 83.540673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 63.540673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695100; longitude = -121.941481; captureRadius = 10; duration = 50; initialDepth = 66.529530; finalDepth = 63.540673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:63.540673 # Seafloor depth:-83.540673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 86.529530 meters looking forward 0.000000 meters along route # Maximum depth: 86.529530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 66.529530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695269; longitude = -121.942040; captureRadius = 10; duration = 50; initialDepth = 60.939873; finalDepth = 66.529530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:66.52953 # Seafloor depth:-86.529530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 80.939873 meters looking forward 0.000000 meters along route # Maximum depth: 80.939873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 60.939873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695438; longitude = -121.942600; captureRadius = 10; duration = 50; initialDepth = 61.731848; finalDepth = 60.939873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:60.939873 # Seafloor depth:-80.939873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 81.731848 meters looking forward 0.000000 meters along route # Maximum depth: 81.731848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 61.731848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695607; longitude = -121.943160; captureRadius = 10; duration = 50; initialDepth = 60.536172; finalDepth = 61.731848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:61.731848 # Seafloor depth:-81.731848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 80.536172 meters looking forward 0.000000 meters along route # Maximum depth: 80.536172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 60.536172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695776; longitude = -121.943720; captureRadius = 10; duration = 50; initialDepth = 68.342620; finalDepth = 60.536172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:60.536172 # Seafloor depth:-80.536172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 88.342620 meters looking forward 0.000000 meters along route # Maximum depth: 88.342620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 68.342620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695948; longitude = -121.944286; captureRadius = 10; duration = 50; initialDepth = 74.168314; finalDepth = 68.342620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:68.34262 # Seafloor depth:-88.342620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.387648 meters # Minimum depth: 94.168314 meters looking forward 0.000000 meters along route # Maximum depth: 94.168314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.168314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696128; longitude = -121.944883; captureRadius = 10; duration = 50; initialDepth = 76.089705; finalDepth = 74.168314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:74.168314 # Seafloor depth:-94.168314 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 50.387648 meters # Minimum depth: 96.089705 meters looking forward 0.000000 meters along route # Maximum depth: 96.089705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.089705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696294; longitude = -121.945432; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 75.140088; finalDepth = 76.089705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.089705 # Seafloor depth:-96.089705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.387648 meters # Minimum depth: 95.140088 meters looking forward 0.000000 meters along route # Maximum depth: 95.140088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 75.140088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696399; longitude = -121.945372; captureRadius = 10; duration = 50; initialDepth = 75.274966; finalDepth = 75.140088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:75.140088 # Seafloor depth:-95.140088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.387648 meters # Minimum depth: 95.274966 meters looking forward 0.000000 meters along route # Maximum depth: 95.274966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 75.274966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696850; longitude = -121.945112; captureRadius = 10; duration = 50; initialDepth = 75.094667; finalDepth = 75.274966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:75.274966 # Seafloor depth:-95.274966 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 50.387648 meters # Minimum depth: 95.094667 meters looking forward 0.000000 meters along route # Maximum depth: 95.094667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 75.094667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697271; longitude = -121.944870; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 73.769486; finalDepth = 75.094667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:75.094667 # Seafloor depth:-95.094667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 93.769486 meters looking forward 0.000000 meters along route # Maximum depth: 93.769486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 73.769486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697115; longitude = -121.944391; captureRadius = 10; duration = 50; initialDepth = 60.556468; finalDepth = 73.769486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:73.769486 # Seafloor depth:-93.769486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 80.556468 meters looking forward 0.000000 meters along route # Maximum depth: 80.556468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 60.556468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696933; longitude = -121.943832; captureRadius = 10; duration = 50; initialDepth = 59.803331; finalDepth = 60.556468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:60.556468 # Seafloor depth:-80.556468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 79.803331 meters looking forward 0.000000 meters along route # Maximum depth: 79.803331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 59.803331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696751; longitude = -121.943272; captureRadius = 10; duration = 50; initialDepth = 66.935834; finalDepth = 59.803331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:59.803331 # Seafloor depth:-79.803331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 86.935834 meters looking forward 0.000000 meters along route # Maximum depth: 86.935834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 66.935834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696568; longitude = -121.942712; captureRadius = 10; duration = 50; initialDepth = 67.948513; finalDepth = 66.935834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:66.935834 # Seafloor depth:-86.935834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 87.948513 meters looking forward 0.000000 meters along route # Maximum depth: 87.948513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 67.948513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696386; longitude = -121.942152; captureRadius = 10; duration = 50; initialDepth = 67.873433; finalDepth = 67.948513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:67.948513 # Seafloor depth:-87.948513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 87.873433 meters looking forward 0.000000 meters along route # Maximum depth: 87.873433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 67.873433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696204; longitude = -121.941593; captureRadius = 10; duration = 50; initialDepth = 65.785267; finalDepth = 67.873433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:67.873433 # Seafloor depth:-87.873433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 85.785267 meters looking forward 0.000000 meters along route # Maximum depth: 85.785267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 65.785267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696021; longitude = -121.941033; captureRadius = 10; duration = 50; initialDepth = 64.075661; finalDepth = 65.785267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:65.785267 # Seafloor depth:-85.785267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 84.075661 meters looking forward 0.000000 meters along route # Maximum depth: 84.075661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 64.075661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695839; longitude = -121.940473; captureRadius = 10; duration = 50; initialDepth = 61.634491; finalDepth = 64.075661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:64.075661 # Seafloor depth:-84.075661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 81.634491 meters looking forward 0.000000 meters along route # Maximum depth: 81.634491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 61.634491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695657; longitude = -121.939913; captureRadius = 10; duration = 50; initialDepth = 63.793159; finalDepth = 61.634491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:61.634491 # Seafloor depth:-81.634491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 83.793159 meters looking forward 0.000000 meters along route # Maximum depth: 83.793159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 63.793159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695475; longitude = -121.939354; captureRadius = 10; duration = 50; initialDepth = 64.801529; finalDepth = 63.793159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:63.793159 # Seafloor depth:-83.793159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 84.801529 meters looking forward 0.000000 meters along route # Maximum depth: 84.801529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 64.801529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695292; longitude = -121.938794; captureRadius = 10; duration = 50; initialDepth = 73.133233; finalDepth = 64.801529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:64.801529 # Seafloor depth:-84.801529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 93.133233 meters looking forward 0.000000 meters along route # Maximum depth: 93.133233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 73.133233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695110; longitude = -121.938234; captureRadius = 10; duration = 50; initialDepth = 76.665660; finalDepth = 73.133233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:73.133233 # Seafloor depth:-93.133233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.387648 meters # Minimum depth: 96.665660 meters looking forward 0.000000 meters along route # Maximum depth: 96.665660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.665660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694928; longitude = -121.937675; captureRadius = 10; duration = 50; initialDepth = 76.877686; finalDepth = 76.665660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.66566 # Seafloor depth:-96.665660 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 50.387648 meters # Minimum depth: 96.877686 meters looking forward 0.000000 meters along route # Maximum depth: 96.877686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.877686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694744; longitude = -121.937110; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 76.869680; finalDepth = 76.877686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.877686 # Seafloor depth:-96.877686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.387648 meters # Minimum depth: 96.869680 meters looking forward 0.000000 meters along route # Maximum depth: 96.869680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.869680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694775; longitude = -121.937093; captureRadius = 10; duration = 50; initialDepth = 77.129522; finalDepth = 76.869680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.86968 # Seafloor depth:-96.869680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.387648 meters # Minimum depth: 97.129522 meters looking forward 0.000000 meters along route # Maximum depth: 97.129522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.129522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695226; longitude = -121.936844; captureRadius = 10; duration = 50; initialDepth = 77.235584; finalDepth = 77.129522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.129522 # Seafloor depth:-97.129522 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 50.387648 meters # Minimum depth: 97.235584 meters looking forward 0.000000 meters along route # Maximum depth: 97.235584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.235584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695674; longitude = -121.936597; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 77.114047; finalDepth = 77.235584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.235584 # Seafloor depth:-97.235584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 97.114047 meters looking forward 0.000000 meters along route # Maximum depth: 97.114047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.114047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695696; longitude = -121.936667; captureRadius = 10; duration = 50; initialDepth = 76.760272; finalDepth = 77.114047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.114047 # Seafloor depth:-97.114047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 96.760272 meters looking forward 0.000000 meters along route # Maximum depth: 96.760272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.760272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695870; longitude = -121.937227; captureRadius = 10; duration = 50; initialDepth = 75.035602; finalDepth = 76.760272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.760272 # Seafloor depth:-96.760272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 95.035602 meters looking forward 0.000000 meters along route # Maximum depth: 95.035602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 75.035602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696044; longitude = -121.937786; captureRadius = 10; duration = 50; initialDepth = 67.993945; finalDepth = 75.035602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:75.035602 # Seafloor depth:-95.035602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 87.993945 meters looking forward 0.000000 meters along route # Maximum depth: 87.993945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 67.993945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696219; longitude = -121.938346; captureRadius = 10; duration = 50; initialDepth = 64.509356; finalDepth = 67.993945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:67.993945 # Seafloor depth:-87.993945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 84.509356 meters looking forward 0.000000 meters along route # Maximum depth: 84.509356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 64.509356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696399; longitude = -121.938925; captureRadius = 10; duration = 50; initialDepth = 68.087963; finalDepth = 64.509356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:64.509356 # Seafloor depth:-84.509356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 88.087963 meters looking forward 0.000000 meters along route # Maximum depth: 88.087963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 68.087963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696567; longitude = -121.939466; captureRadius = 10; duration = 50; initialDepth = 69.169791; finalDepth = 68.087963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:68.087963 # Seafloor depth:-88.087963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 89.169791 meters looking forward 0.000000 meters along route # Maximum depth: 89.169791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 69.169791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696741; longitude = -121.940025; captureRadius = 10; duration = 50; initialDepth = 69.509863; finalDepth = 69.169791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:69.169791 # Seafloor depth:-89.169791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 89.509863 meters looking forward 0.000000 meters along route # Maximum depth: 89.509863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 69.509863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696916; longitude = -121.940585; captureRadius = 10; duration = 50; initialDepth = 69.486420; finalDepth = 69.509863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:69.509863 # Seafloor depth:-89.509863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 89.486420 meters looking forward 0.000000 meters along route # Maximum depth: 89.486420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 69.486420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697090; longitude = -121.941145; captureRadius = 10; duration = 50; initialDepth = 65.236337; finalDepth = 69.486420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:69.48642 # Seafloor depth:-89.486420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 85.236337 meters looking forward 0.000000 meters along route # Maximum depth: 85.236337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 65.236337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697264; longitude = -121.941705; captureRadius = 10; duration = 50; initialDepth = 62.601964; finalDepth = 65.236337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:65.236337 # Seafloor depth:-85.236337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 82.601964 meters looking forward 0.000000 meters along route # Maximum depth: 82.601964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 62.601964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697438; longitude = -121.942264; captureRadius = 10; duration = 50; initialDepth = 59.895394; finalDepth = 62.601964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:62.601964 # Seafloor depth:-82.601964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 79.895394 meters looking forward 0.000000 meters along route # Maximum depth: 79.895394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 59.895394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697613; longitude = -121.942824; captureRadius = 10; duration = 50; initialDepth = 60.767226; finalDepth = 59.895394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:59.895394 # Seafloor depth:-79.895394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 80.767226 meters looking forward 0.000000 meters along route # Maximum depth: 80.767226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 60.767226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697787; longitude = -121.943384; captureRadius = 10; duration = 50; initialDepth = 73.879846; finalDepth = 60.767226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:60.767226 # Seafloor depth:-80.767226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.387648 meters # Minimum depth: 93.879846 meters looking forward 0.000000 meters along route # Maximum depth: 93.879846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 73.879846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697961; longitude = -121.943943; captureRadius = 10; duration = 50; initialDepth = 76.016466; finalDepth = 73.879846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:73.879846 # Seafloor depth:-93.879846 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 50.387648 meters # Minimum depth: 96.016466 meters looking forward 0.000000 meters along route # Maximum depth: 96.016466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.016466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698152; longitude = -121.944556; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 76.001527; finalDepth = 76.016466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.016466 # Seafloor depth:-96.016466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.387648 meters # Minimum depth: 96.001527 meters looking forward 0.000000 meters along route # Maximum depth: 96.001527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.001527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698293; longitude = -121.944487; captureRadius = 10; duration = 50; initialDepth = 76.521852; finalDepth = 76.001527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.001527 # Seafloor depth:-96.001527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.387648 meters # Minimum depth: 96.521852 meters looking forward 0.000000 meters along route # Maximum depth: 96.521852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.521852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698744; longitude = -121.944267; captureRadius = 10; duration = 50; initialDepth = 77.200394; finalDepth = 76.521852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.521852 # Seafloor depth:-96.521852 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 50.387648 meters # Minimum depth: 97.200394 meters looking forward 0.000000 meters along route # Maximum depth: 97.200394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.200394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699178; longitude = -121.944056; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 76.962300; finalDepth = 77.200394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.200394 # Seafloor depth:-97.200394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 96.962300 meters looking forward 0.000000 meters along route # Maximum depth: 96.962300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.962300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699142; longitude = -121.943943; captureRadius = 10; duration = 50; initialDepth = 76.004446; finalDepth = 76.962300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.9623 # Seafloor depth:-96.962300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 96.004446 meters looking forward 0.000000 meters along route # Maximum depth: 96.004446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 76.004446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698962; longitude = -121.943384; captureRadius = 10; duration = 50; initialDepth = 74.353952; finalDepth = 76.004446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:76.004446 # Seafloor depth:-96.004446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 94.353952 meters looking forward 0.000000 meters along route # Maximum depth: 94.353952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.353952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698782; longitude = -121.942824; captureRadius = 10; duration = 50; initialDepth = 72.491588; finalDepth = 74.353952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:74.353952 # Seafloor depth:-94.353952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 92.491588 meters looking forward 0.000000 meters along route # Maximum depth: 92.491588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 72.491588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698602; longitude = -121.942264; captureRadius = 10; duration = 50; initialDepth = 69.749170; finalDepth = 72.491588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:72.491588 # Seafloor depth:-92.491588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 89.749170 meters looking forward 0.000000 meters along route # Maximum depth: 89.749170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 69.749170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698423; longitude = -121.941705; captureRadius = 10; duration = 50; initialDepth = 65.773829; finalDepth = 69.749170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:69.74917 # Seafloor depth:-89.749170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 85.773829 meters looking forward 0.000000 meters along route # Maximum depth: 85.773829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 65.773829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698243; longitude = -121.941145; captureRadius = 10; duration = 50; initialDepth = 68.709293; finalDepth = 65.773829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:65.773829 # Seafloor depth:-85.773829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 88.709293 meters looking forward 0.000000 meters along route # Maximum depth: 88.709293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 68.709293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698063; longitude = -121.940585; captureRadius = 10; duration = 50; initialDepth = 71.575315; finalDepth = 68.709293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:68.709293 # Seafloor depth:-88.709293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 91.575315 meters looking forward 0.000000 meters along route # Maximum depth: 91.575315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 71.575315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697883; longitude = -121.940025; captureRadius = 10; duration = 50; initialDepth = 72.088406; finalDepth = 71.575315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:71.575315 # Seafloor depth:-91.575315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 92.088406 meters looking forward 0.000000 meters along route # Maximum depth: 92.088406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 72.088406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697704; longitude = -121.939466; captureRadius = 10; duration = 50; initialDepth = 72.708892; finalDepth = 72.088406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:72.088406 # Seafloor depth:-92.088406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 92.708892 meters looking forward 0.000000 meters along route # Maximum depth: 92.708892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 72.708892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697524; longitude = -121.938906; captureRadius = 10; duration = 50; initialDepth = 72.902955; finalDepth = 72.708892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:72.708892 # Seafloor depth:-92.708892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 92.902955 meters looking forward 0.000000 meters along route # Maximum depth: 92.902955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 72.902955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697344; longitude = -121.938346; captureRadius = 10; duration = 50; initialDepth = 73.427229; finalDepth = 72.902955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:72.902955 # Seafloor depth:-92.902955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 93.427229 meters looking forward 0.000000 meters along route # Maximum depth: 93.427229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 73.427229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697164; longitude = -121.937786; captureRadius = 10; duration = 50; initialDepth = 74.699426; finalDepth = 73.427229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:73.427229 # Seafloor depth:-93.427229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 94.699426 meters looking forward 0.000000 meters along route # Maximum depth: 94.699426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.699426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696984; longitude = -121.937227; captureRadius = 10; duration = 50; initialDepth = 77.014302; finalDepth = 74.699426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:74.699426 # Seafloor depth:-94.699426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 97.014302 meters looking forward 0.000000 meters along route # Maximum depth: 97.014302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.014302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696805; longitude = -121.936667; captureRadius = 10; duration = 50; initialDepth = 77.328023; finalDepth = 77.014302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.014302 # Seafloor depth:-97.014302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 97.328023 meters looking forward 0.000000 meters along route # Maximum depth: 97.328023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.328023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696625; longitude = -121.936107; captureRadius = 10; duration = 50; initialDepth = 77.397550; finalDepth = 77.328023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.328023 # Seafloor depth:-97.328023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 97.397550 meters looking forward 0.000000 meters along route # Maximum depth: 97.397550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.397550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696445; longitude = -121.935548; captureRadius = 10; duration = 50; initialDepth = 77.466755; finalDepth = 77.397550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.39755 # Seafloor depth:-97.397550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.387648 meters # Minimum depth: 97.466755 meters looking forward 0.000000 meters along route # Maximum depth: 97.466755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.466755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696265; longitude = -121.934988; captureRadius = 10; duration = 50; initialDepth = 77.987944; finalDepth = 77.466755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:77.466755 # Seafloor depth:-97.466755 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 20 # Sonar parameter altitude: 25 # Commanded vehicle depth:77.987944 # Seafloor depth:-97.987944 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Acoustic update - sent status ping before start of logging # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 50.387648 meters # Minimum depth: 97.987944 meters looking forward 0.000000 meters along route # Maximum depth: 97.987944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 85.487944 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.987944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696097; longitude = -121.934464; captureRadius = 10; duration = 600; initialDepth = 77.987944; finalDepth = 77.987944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 291.111970; 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 = 291.111970; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################