# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2009MBCanyon_2v2.rte # Mission File: 2009MBCanyon_2v2.cfg # Distance: 74349.147628 (m) # Estimated Time: 53335 (s) 14.815 (hr) # Abort Time: 57600 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 3463 (s) # Way Points: 47 # Route Points: 923 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 2916.511169 (m) # Abort Vehicle Depth: 2941.511169 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 2839.667542 m # Spiral descent altitude: 50 m # Waypoint Spacing: 75 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.440163 36.602277 -2899.667542 0.000000 3 # 1 -122.449363 36.608213 -2916.389771 1053.858854 1 # 2 -122.448176 36.609845 -2913.202820 1263.723913 4 # 3 -122.429034 36.614297 -2890.509705 3045.384233 3 # 4 -122.419240 36.592483 -2902.555786 5618.868534 4 # 5 -122.421465 36.591593 -2906.559631 5841.040461 1 # 6 -122.431705 36.589812 -2916.642883 6778.108674 1 # 7 -122.442834 36.584915 -2934.630249 7912.237640 3 # 8 -122.452183 36.608510 -2920.199341 10659.949329 4 # 9 -122.454695 36.607155 -2922.982300 10930.252169 3 # 10 -122.423246 36.615633 -2873.616333 13895.797449 4 # 11 -122.420182 36.614924 -2875.488586 14180.860903 3 # 12 -122.454168 36.605871 -2915.718323 17381.864033 4 # 13 -122.453642 36.604587 -2912.816772 17531.864914 3 # 14 -122.419656 36.613640 -2876.343262 20732.916008 4 # 15 -122.419130 36.612356 -2871.735901 20882.916160 3 # 16 -122.453115 36.603303 -2912.550110 24083.930297 4 # 17 -122.452589 36.602019 -2918.241577 24233.931626 3 # 18 -122.418604 36.611072 -2868.475647 27434.993722 4 # 19 -122.418078 36.609788 -2866.548706 27584.994323 3 # 20 -122.452062 36.600735 -2918.449463 30786.019456 4 # 21 -122.451536 36.599451 -2920.274048 30936.021233 3 # 22 -122.417553 36.608504 -2868.785339 34137.009399 4 # 23 -122.417027 36.607220 -2869.120911 34287.010449 3 # 24 -122.451010 36.598167 -2922.121399 37488.046567 4 # 25 -122.450483 36.596883 -2925.741028 37638.076871 3 # 26 -122.416501 36.605936 -2873.773315 40839.076015 4 # 27 -122.415975 36.604652 -2876.745850 40989.077514 3 # 28 -122.449957 36.595600 -2925.566284 44190.089789 4 # 29 -122.449431 36.594316 -2927.534058 44340.092462 3 # 30 -122.415449 36.603368 -2881.333069 47541.152685 4 # 31 -122.414923 36.602083 -2883.565613 47691.259970 3 # 32 -122.448904 36.593032 -2930.721069 50892.248432 4 # 33 -122.448378 36.591748 -2932.032288 51042.251552 3 # 34 -122.414398 36.600799 -2884.178101 54243.203025 4 # 35 -122.413872 36.599515 -2879.454773 54393.205423 3 # 36 -122.447852 36.590464 -2932.737854 57594.204838 4 # 37 -122.447325 36.589180 -2935.801453 57744.236491 3 # 38 -122.413346 36.598231 -2882.681335 60945.198911 4 # 39 -122.412820 36.596947 -2885.357727 61095.201758 3 # 40 -122.446799 36.587896 -2935.873962 64296.212116 4 # 41 -122.446273 36.586612 -2934.272766 64446.216133 3 # 42 -122.412295 36.595663 -2890.451843 67647.189489 4 # 43 -122.411769 36.594379 -2889.258118 67797.192785 3 # 44 -122.445747 36.585328 -2939.262451 70998.214075 4 # 45 -122.445221 36.584045 -2941.511169 71148.113215 3 # 46 -122.411243 36.593095 -2886.236572 74349.147628 4 # # A total of 923 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 57600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2916.511169; abortDepth = 2941.511169; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 3600; 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 46 # Segment length 63.382441 meters # Minimum depth: 2886.236572 meters looking forward 0.000000 meters along route # Maximum depth: 2886.236572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.236572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593095; longitude = -122.411243; captureRadius = 10; duration = 126; # abortOnTimeout = True; initialDepth = 2829.099711; finalDepth = 2836.236572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.236572 # Seafloor depth: -2886.236572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 79.374231 meters # Minimum depth: 2879.099711 meters looking forward 0.000000 meters along route # Maximum depth: 2879.099711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.099711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592916; longitude = -122.411916; captureRadius = 10; duration = 158; initialDepth = 2832.624744; finalDepth = 2829.099711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.099711 # Seafloor depth: -2879.099711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 78.577908 meters # Minimum depth: 2882.624744 meters looking forward 0.000000 meters along route # Maximum depth: 2882.624744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.624744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592691; longitude = -122.412758; captureRadius = 10; duration = 157; initialDepth = 2837.564624; finalDepth = 2832.624744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.624744 # Seafloor depth: -2882.624744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 80.839539 meters # Minimum depth: 2887.564624 meters looking forward 0.000000 meters along route # Maximum depth: 2887.564624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.564624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592469; longitude = -122.413593; captureRadius = 10; duration = 161; initialDepth = 2840.505793; finalDepth = 2837.564624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.564624 # Seafloor depth: -2887.564624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 77.113389 meters # Minimum depth: 2890.505793 meters looking forward 0.000000 meters along route # Maximum depth: 2890.505793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.505793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592241; longitude = -122.414451; captureRadius = 10; duration = 154; initialDepth = 2844.069528; finalDepth = 2840.505793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.505793 # Seafloor depth: -2890.505793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.241885 meters # Minimum depth: 2894.069528 meters looking forward 0.000000 meters along route # Maximum depth: 2894.069528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.069528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592023; longitude = -122.415269; captureRadius = 10; duration = 168; initialDepth = 2837.150126; finalDepth = 2844.069528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.069528 # Seafloor depth: -2894.069528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.242108 meters # Minimum depth: 2887.150126 meters looking forward 0.000000 meters along route # Maximum depth: 2887.150126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.150126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591784; longitude = -122.416163; captureRadius = 10; duration = 168; initialDepth = 2824.135510; finalDepth = 2837.150126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.150126 # Seafloor depth: -2887.150126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.242333 meters # Minimum depth: 2874.135510 meters looking forward 0.000000 meters along route # Maximum depth: 2874.135510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2824.135510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591546; longitude = -122.417058; captureRadius = 10; duration = 168; initialDepth = 2826.234416; finalDepth = 2824.135510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2824.13551 # Seafloor depth: -2874.135510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.649407 meters # Minimum depth: 2876.234416 meters looking forward 0.000000 meters along route # Maximum depth: 2876.234416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.234416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591308; longitude = -122.417952; captureRadius = 10; duration = 169; initialDepth = 2810.360148; finalDepth = 2826.234416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.234416 # Seafloor depth: -2876.234416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 83.835933 meters # Minimum depth: 2860.360148 meters looking forward 0.000000 meters along route # Maximum depth: 2860.360148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2810.360148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591069; longitude = -122.418850; captureRadius = 10; duration = 167; initialDepth = 2819.383327; finalDepth = 2810.360148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2810.360148 # Seafloor depth: -2860.360148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 75.584407 meters # Minimum depth: 2869.383327 meters looking forward 0.000000 meters along route # Maximum depth: 2869.383327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.383327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590832; longitude = -122.419740; captureRadius = 10; duration = 151; initialDepth = 2823.409071; finalDepth = 2819.383327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.383327 # Seafloor depth: -2869.383327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 82.371414 meters # Minimum depth: 2873.409071 meters looking forward 0.000000 meters along route # Maximum depth: 2873.409071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.409071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590618; longitude = -122.420543; captureRadius = 10; duration = 164; initialDepth = 2821.390036; finalDepth = 2823.409071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.409071 # Seafloor depth: -2873.409071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 77.049729 meters # Minimum depth: 2871.390036 meters looking forward 0.000000 meters along route # Maximum depth: 2871.390036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2821.390036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590385; longitude = -122.421417; captureRadius = 10; duration = 154; initialDepth = 2831.194267; finalDepth = 2821.390036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2821.390036 # Seafloor depth: -2871.390036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 80.906882 meters # Minimum depth: 2881.194267 meters looking forward 0.000000 meters along route # Maximum depth: 2881.194267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.194267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590167; longitude = -122.422235; captureRadius = 10; duration = 161; initialDepth = 2835.207265; finalDepth = 2831.194267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.194267 # Seafloor depth: -2881.194267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 78.515066 meters # Minimum depth: 2885.207265 meters looking forward 0.000000 meters along route # Maximum depth: 2885.207265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.207265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589939; longitude = -122.423094; captureRadius = 10; duration = 157; initialDepth = 2841.062332; finalDepth = 2835.207265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.207265 # Seafloor depth: -2885.207265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.442333 meters # Minimum depth: 2891.062332 meters looking forward 0.000000 meters along route # Maximum depth: 2891.062332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.062332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589717; longitude = -122.423927; captureRadius = 10; duration = 158; initialDepth = 2849.180195; finalDepth = 2841.062332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.062332 # Seafloor depth: -2891.062332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.980419 meters # Minimum depth: 2899.180195 meters looking forward 0.000000 meters along route # Maximum depth: 2899.180195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.180195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589492; longitude = -122.424770; captureRadius = 10; duration = 159; initialDepth = 2855.017637; finalDepth = 2849.180195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.180195 # Seafloor depth: -2899.180195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 77.977771 meters # Minimum depth: 2905.017637 meters looking forward 0.000000 meters along route # Maximum depth: 2905.017637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.017637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589266; longitude = -122.425619; captureRadius = 10; duration = 155; initialDepth = 2855.008351; finalDepth = 2855.017637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.017637 # Seafloor depth: -2905.017637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 81.445785 meters # Minimum depth: 2905.008351 meters looking forward 0.000000 meters along route # Maximum depth: 2905.008351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.008351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589045; longitude = -122.426447; captureRadius = 10; duration = 162; initialDepth = 2863.253443; finalDepth = 2855.008351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.008351 # Seafloor depth: -2905.008351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.513193 meters # Minimum depth: 2913.253443 meters looking forward 0.000000 meters along route # Maximum depth: 2913.253443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.253443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588815; longitude = -122.427312; captureRadius = 10; duration = 153; initialDepth = 2863.055969; finalDepth = 2863.253443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.253443 # Seafloor depth: -2913.253443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 82.911167 meters # Minimum depth: 2913.055969 meters looking forward 0.000000 meters along route # Maximum depth: 2913.055969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.055969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588599; longitude = -122.428124; captureRadius = 10; duration = 165; initialDepth = 2865.305888; finalDepth = 2863.055969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.055969 # Seafloor depth: -2913.055969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 75.048601 meters # Minimum depth: 2915.305888 meters looking forward 0.000000 meters along route # Maximum depth: 2915.305888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.305888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588364; longitude = -122.429004; captureRadius = 10; duration = 150; initialDepth = 2862.687228; finalDepth = 2865.305888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.305888 # Seafloor depth: -2915.305888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.376564 meters # Minimum depth: 2912.687228 meters looking forward 0.000000 meters along route # Maximum depth: 2912.687228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.687228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588152; longitude = -122.429801; captureRadius = 10; duration = 168; initialDepth = 2866.129003; finalDepth = 2862.687228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.687228 # Seafloor depth: -2912.687228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.114726 meters # Minimum depth: 2916.129003 meters looking forward 0.000000 meters along route # Maximum depth: 2916.129003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.129003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587914; longitude = -122.430696; captureRadius = 10; duration = 168; initialDepth = 2867.408182; finalDepth = 2866.129003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.129003 # Seafloor depth: -2916.129003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 75.311243 meters # Minimum depth: 2917.408182 meters looking forward 0.000000 meters along route # Maximum depth: 2917.408182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.408182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587676; longitude = -122.431589; captureRadius = 10; duration = 150; initialDepth = 2866.768274; finalDepth = 2867.408182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.408182 # Seafloor depth: -2917.408182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 82.650157 meters # Minimum depth: 2916.768274 meters looking forward 0.000000 meters along route # Maximum depth: 2916.768274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.768274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587463; longitude = -122.432388; captureRadius = 10; duration = 165; initialDepth = 2868.467535; finalDepth = 2866.768274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.768274 # Seafloor depth: -2916.768274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.776616 meters # Minimum depth: 2918.467535 meters looking forward 0.000000 meters along route # Maximum depth: 2918.467535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.467535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587229; longitude = -122.433266; captureRadius = 10; duration = 153; initialDepth = 2871.188753; finalDepth = 2868.467535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.467535 # Seafloor depth: -2918.467535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 81.185574 meters # Minimum depth: 2921.188753 meters looking forward 0.000000 meters along route # Maximum depth: 2921.188753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.188753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587012; longitude = -122.434081; captureRadius = 10; duration = 162; initialDepth = 2869.867767; finalDepth = 2871.188753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.188753 # Seafloor depth: -2921.188753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 78.242004 meters # Minimum depth: 2919.867767 meters looking forward 0.000000 meters along route # Maximum depth: 2919.867767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.867767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586783; longitude = -122.434942; captureRadius = 10; duration = 156; initialDepth = 2871.093961; finalDepth = 2869.867767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.867767 # Seafloor depth: -2919.867767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.720976 meters # Minimum depth: 2921.093961 meters looking forward 0.000000 meters along route # Maximum depth: 2921.093961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.093961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586561; longitude = -122.435773; captureRadius = 10; duration = 159; initialDepth = 2873.353658; finalDepth = 2871.093961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.093961 # Seafloor depth: -2921.093961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.707406 meters # Minimum depth: 2923.353658 meters looking forward 0.000000 meters along route # Maximum depth: 2923.353658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.353658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586336; longitude = -122.436619; captureRadius = 10; duration = 159; initialDepth = 2874.203087; finalDepth = 2873.353658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.353658 # Seafloor depth: -2923.353658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 78.256364 meters # Minimum depth: 2924.203087 meters looking forward 0.000000 meters along route # Maximum depth: 2924.203087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.203087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586111; longitude = -122.437465; captureRadius = 10; duration = 156; initialDepth = 2873.785216; finalDepth = 2874.203087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.203087 # Seafloor depth: -2924.203087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 81.172823 meters # Minimum depth: 2923.785216 meters looking forward 0.000000 meters along route # Maximum depth: 2923.785216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.785216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585890; longitude = -122.438296; captureRadius = 10; duration = 162; initialDepth = 2876.562865; finalDepth = 2873.785216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.785216 # Seafloor depth: -2923.785216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.791736 meters # Minimum depth: 2926.562865 meters looking forward 0.000000 meters along route # Maximum depth: 2926.562865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2876.562865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585660; longitude = -122.439157; captureRadius = 10; duration = 153; initialDepth = 2878.385377; finalDepth = 2876.562865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2876.562865 # Seafloor depth: -2926.562865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 82.638256 meters # Minimum depth: 2928.385377 meters looking forward 0.000000 meters along route # Maximum depth: 2928.385377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.385377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585443; longitude = -122.439972; captureRadius = 10; duration = 165; initialDepth = 2878.362922; finalDepth = 2878.385377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.385377 # Seafloor depth: -2928.385377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 75.327094 meters # Minimum depth: 2928.362922 meters looking forward 0.000000 meters along route # Maximum depth: 2928.362922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.362922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585209; longitude = -122.440850; captureRadius = 10; duration = 150; initialDepth = 2883.023391; finalDepth = 2878.362922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.362922 # Seafloor depth: -2928.362922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.248510 meters # Minimum depth: 2933.023391 meters looking forward 0.000000 meters along route # Maximum depth: 2933.023391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2883.023391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.584996; longitude = -122.441649; captureRadius = 10; duration = 168; initialDepth = 2884.190495; finalDepth = 2883.023391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2883.023391 # Seafloor depth: -2933.023391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.248734 meters # Minimum depth: 2934.190495 meters looking forward 0.000000 meters along route # Maximum depth: 2934.190495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2884.190495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.584758; longitude = -122.442543; captureRadius = 10; duration = 168; initialDepth = 2885.902466; finalDepth = 2884.190495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2884.190495 # Seafloor depth: -2934.190495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.248959 meters # Minimum depth: 2935.902466 meters looking forward 0.000000 meters along route # Maximum depth: 2935.902466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2885.902466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.584520; longitude = -122.443438; captureRadius = 10; duration = 168; initialDepth = 2890.235404; finalDepth = 2885.902466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2885.902466 # Seafloor depth: -2935.902466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 83.770730 meters # Minimum depth: 2940.235404 meters looking forward 0.000000 meters along route # Maximum depth: 2940.235404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2890.235404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.584282; longitude = -122.444332; captureRadius = 10; duration = 167; initialDepth = 2891.511169; finalDepth = 2890.235404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2890.235404 # Seafloor depth: -2940.235404 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 72.840366 meters # Minimum depth: 2941.511169 meters looking forward 0.000000 meters along route # Maximum depth: 2941.511169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2891.511169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.584045; longitude = -122.445221; captureRadius = 10; duration = 145; # abortOnTimeout = True; initialDepth = 2886.381310; finalDepth = 2891.511169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2891.511169 # Seafloor depth: -2941.511169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 77.058774 meters # Minimum depth: 2936.381310 meters looking forward 0.000000 meters along route # Maximum depth: 2936.381310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2886.381310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.584668; longitude = -122.445477; captureRadius = 10; duration = 154; initialDepth = 2889.262451; finalDepth = 2886.381310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2886.38131 # Seafloor depth: -2936.381310 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 133.326474 meters # Minimum depth: 2939.262451 meters looking forward 0.000000 meters along route # Maximum depth: 2939.262451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2889.262451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585328; longitude = -122.445747; captureRadius = 10; duration = 266; # abortOnTimeout = True; initialDepth = 2884.430894; finalDepth = 2889.262451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2889.262451 # Seafloor depth: -2939.262451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 79.759964 meters # Minimum depth: 2934.430894 meters looking forward 0.000000 meters along route # Maximum depth: 2934.430894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2884.430894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585705; longitude = -122.444332; captureRadius = 10; duration = 159; initialDepth = 2883.075605; finalDepth = 2884.430894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2884.430894 # Seafloor depth: -2934.430894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 78.205756 meters # Minimum depth: 2933.075605 meters looking forward 0.000000 meters along route # Maximum depth: 2933.075605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2883.075605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585930; longitude = -122.443485; captureRadius = 10; duration = 156; initialDepth = 2879.821136; finalDepth = 2883.075605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2883.075605 # Seafloor depth: -2933.075605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 81.206972 meters # Minimum depth: 2929.821136 meters looking forward 0.000000 meters along route # Maximum depth: 2929.821136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.821136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586152; longitude = -122.442655; captureRadius = 10; duration = 162; initialDepth = 2879.554229; finalDepth = 2879.821136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.821136 # Seafloor depth: -2929.821136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 76.757957 meters # Minimum depth: 2929.554229 meters looking forward 0.000000 meters along route # Maximum depth: 2929.554229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.554229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586381; longitude = -122.441793; captureRadius = 10; duration = 153; initialDepth = 2877.673256; finalDepth = 2879.554229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.554229 # Seafloor depth: -2929.554229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.247640 meters # Minimum depth: 2927.673256 meters looking forward 0.000000 meters along route # Maximum depth: 2927.673256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.673256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586598; longitude = -122.440978; captureRadius = 10; duration = 168; initialDepth = 2877.290984; finalDepth = 2877.673256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.673256 # Seafloor depth: -2927.673256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.247414 meters # Minimum depth: 2927.290984 meters looking forward 0.000000 meters along route # Maximum depth: 2927.290984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.290984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586836; longitude = -122.440084; captureRadius = 10; duration = 168; initialDepth = 2875.957863; finalDepth = 2877.290984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.290984 # Seafloor depth: -2927.290984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.247190 meters # Minimum depth: 2925.957863 meters looking forward 0.000000 meters along route # Maximum depth: 2925.957863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.957863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587075; longitude = -122.439190; captureRadius = 10; duration = 168; initialDepth = 2875.633068; finalDepth = 2875.957863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.957863 # Seafloor depth: -2925.957863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.969126 meters # Minimum depth: 2925.633068 meters looking forward 0.000000 meters along route # Maximum depth: 2925.633068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.633068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587313; longitude = -122.438296; captureRadius = 10; duration = 169; initialDepth = 2873.808091; finalDepth = 2875.633068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.633068 # Seafloor depth: -2925.633068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.524579 meters # Minimum depth: 2923.808091 meters looking forward 0.000000 meters along route # Maximum depth: 2923.808091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.808091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587553; longitude = -122.437394; captureRadius = 10; duration = 167; initialDepth = 2872.748269; finalDepth = 2873.808091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.808091 # Seafloor depth: -2923.808091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 75.885252 meters # Minimum depth: 2922.748269 meters looking forward 0.000000 meters along route # Maximum depth: 2922.748269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.748269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587789; longitude = -122.436507; captureRadius = 10; duration = 151; initialDepth = 2872.818878; finalDepth = 2872.748269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.748269 # Seafloor depth: -2922.748269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 82.076780 meters # Minimum depth: 2922.818878 meters looking forward 0.000000 meters along route # Maximum depth: 2922.818878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.818878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588004; longitude = -122.435702; captureRadius = 10; duration = 164; initialDepth = 2872.275041; finalDepth = 2872.818878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.818878 # Seafloor depth: -2922.818878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 77.332247 meters # Minimum depth: 2922.275041 meters looking forward 0.000000 meters along route # Maximum depth: 2922.275041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.275041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588236; longitude = -122.434831; captureRadius = 10; duration = 154; initialDepth = 2869.398638; finalDepth = 2872.275041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.275041 # Seafloor depth: -2922.275041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 80.628996 meters # Minimum depth: 2919.398638 meters looking forward 0.000000 meters along route # Maximum depth: 2919.398638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.398638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588455; longitude = -122.434010; captureRadius = 10; duration = 161; initialDepth = 2869.762238; finalDepth = 2869.398638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.398638 # Seafloor depth: -2919.398638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 78.779226 meters # Minimum depth: 2919.762238 meters looking forward 0.000000 meters along route # Maximum depth: 2919.762238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.762238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588683; longitude = -122.433154; captureRadius = 10; duration = 157; initialDepth = 2867.948525; finalDepth = 2869.762238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.762238 # Seafloor depth: -2919.762238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 79.181226 meters # Minimum depth: 2917.948525 meters looking forward 0.000000 meters along route # Maximum depth: 2917.948525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.948525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588905; longitude = -122.432318; captureRadius = 10; duration = 158; initialDepth = 2866.795382; finalDepth = 2867.948525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.948525 # Seafloor depth: -2917.948525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 80.226192 meters # Minimum depth: 2916.795382 meters looking forward 0.000000 meters along route # Maximum depth: 2916.795382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.795382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589129; longitude = -122.431477; captureRadius = 10; duration = 160; initialDepth = 2865.611724; finalDepth = 2866.795382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.795382 # Seafloor depth: -2916.795382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 77.733471 meters # Minimum depth: 2915.611724 meters looking forward 0.000000 meters along route # Maximum depth: 2915.611724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.611724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589356; longitude = -122.430626; captureRadius = 10; duration = 155; initialDepth = 2863.449438; finalDepth = 2865.611724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.611724 # Seafloor depth: -2915.611724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 81.673143 meters # Minimum depth: 2913.449438 meters looking forward 0.000000 meters along route # Maximum depth: 2913.449438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.449438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589576; longitude = -122.429801; captureRadius = 10; duration = 163; initialDepth = 2861.641432; finalDepth = 2863.449438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.449438 # Seafloor depth: -2913.449438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 76.285730 meters # Minimum depth: 2911.641432 meters looking forward 0.000000 meters along route # Maximum depth: 2911.641432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.641432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589807; longitude = -122.428934; captureRadius = 10; duration = 152; initialDepth = 2864.456718; finalDepth = 2861.641432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.641432 # Seafloor depth: -2911.641432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.244409 meters # Minimum depth: 2914.456718 meters looking forward 0.000000 meters along route # Maximum depth: 2914.456718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.456718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590022; longitude = -122.428124; captureRadius = 10; duration = 168; initialDepth = 2863.222003; finalDepth = 2864.456718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.456718 # Seafloor depth: -2914.456718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.244185 meters # Minimum depth: 2913.222003 meters looking forward 0.000000 meters along route # Maximum depth: 2913.222003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.222003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590261; longitude = -122.427230; captureRadius = 10; duration = 168; initialDepth = 2862.055914; finalDepth = 2863.222003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.222003 # Seafloor depth: -2913.222003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.243960 meters # Minimum depth: 2912.055914 meters looking forward 0.000000 meters along route # Maximum depth: 2912.055914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.055914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590499; longitude = -122.426335; captureRadius = 10; duration = 168; initialDepth = 2862.393943; finalDepth = 2862.055914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.055914 # Seafloor depth: -2912.055914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 85.435147 meters # Minimum depth: 2912.393943 meters looking forward 0.000000 meters along route # Maximum depth: 2912.393943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.393943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590737; longitude = -122.425441; captureRadius = 10; duration = 170; initialDepth = 2863.530461; finalDepth = 2862.393943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.393943 # Seafloor depth: -2912.393943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.052099 meters # Minimum depth: 2913.530461 meters looking forward 0.000000 meters along route # Maximum depth: 2913.530461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.530461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590979; longitude = -122.424534; captureRadius = 10; duration = 166; initialDepth = 2863.492835; finalDepth = 2863.530461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.530461 # Seafloor depth: -2913.530461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 76.351620 meters # Minimum depth: 2913.492835 meters looking forward 0.000000 meters along route # Maximum depth: 2913.492835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.492835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591213; longitude = -122.423653; captureRadius = 10; duration = 152; initialDepth = 2860.487811; finalDepth = 2863.492835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.492835 # Seafloor depth: -2913.492835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 81.604358 meters # Minimum depth: 2910.487811 meters looking forward 0.000000 meters along route # Maximum depth: 2910.487811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.487811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591429; longitude = -122.422842; captureRadius = 10; duration = 163; initialDepth = 2855.642772; finalDepth = 2860.487811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.487811 # Seafloor depth: -2910.487811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 77.798557 meters # Minimum depth: 2905.642772 meters looking forward 0.000000 meters along route # Maximum depth: 2905.642772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.642772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591660; longitude = -122.421976; captureRadius = 10; duration = 155; initialDepth = 2856.425911; finalDepth = 2855.642772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.642772 # Seafloor depth: -2905.642772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 80.156632 meters # Minimum depth: 2906.425911 meters looking forward 0.000000 meters along route # Maximum depth: 2906.425911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.425911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591880; longitude = -122.421150; captureRadius = 10; duration = 160; initialDepth = 2854.191804; finalDepth = 2856.425911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.425911 # Seafloor depth: -2906.425911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 79.245478 meters # Minimum depth: 2904.191804 meters looking forward 0.000000 meters along route # Maximum depth: 2904.191804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.191804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592107; longitude = -122.420299; captureRadius = 10; duration = 158; initialDepth = 2852.790306; finalDepth = 2854.191804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.191804 # Seafloor depth: -2904.191804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 78.708921 meters # Minimum depth: 2902.790306 meters looking forward 0.000000 meters along route # Maximum depth: 2902.790306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.790306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592331; longitude = -122.419458; captureRadius = 10; duration = 157; initialDepth = 2851.668660; finalDepth = 2852.790306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.790306 # Seafloor depth: -2902.790306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 80.692387 meters # Minimum depth: 2901.668660 meters looking forward 0.000000 meters along route # Maximum depth: 2901.668660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.668660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592553; longitude = -122.418623; captureRadius = 10; duration = 161; initialDepth = 2850.781089; finalDepth = 2851.668660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.66866 # Seafloor depth: -2901.668660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 77.261223 meters # Minimum depth: 2900.781089 meters looking forward 0.000000 meters along route # Maximum depth: 2900.781089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.781089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592782; longitude = -122.417766; captureRadius = 10; duration = 154; initialDepth = 2849.863124; finalDepth = 2850.781089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.781089 # Seafloor depth: -2900.781089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 82.139280 meters # Minimum depth: 2899.863124 meters looking forward 0.000000 meters along route # Maximum depth: 2899.863124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.863124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593000; longitude = -122.416946; captureRadius = 10; duration = 164; initialDepth = 2847.899792; finalDepth = 2849.863124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.863124 # Seafloor depth: -2899.863124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 75.813541 meters # Minimum depth: 2897.899792 meters looking forward 0.000000 meters along route # Maximum depth: 2897.899792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.899792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593232; longitude = -122.416074; captureRadius = 10; duration = 151; initialDepth = 2843.432331; finalDepth = 2847.899792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.899792 # Seafloor depth: -2897.899792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.241182 meters # Minimum depth: 2893.432331 meters looking forward 0.000000 meters along route # Maximum depth: 2893.432331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.432331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593447; longitude = -122.415269; captureRadius = 10; duration = 168; initialDepth = 2843.268651; finalDepth = 2843.432331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.432331 # Seafloor depth: -2893.432331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.240957 meters # Minimum depth: 2893.268651 meters looking forward 0.000000 meters along route # Maximum depth: 2893.268651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.268651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593685; longitude = -122.414375; captureRadius = 10; duration = 168; initialDepth = 2840.859048; finalDepth = 2843.268651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.268651 # Seafloor depth: -2893.268651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 84.240733 meters # Minimum depth: 2890.859048 meters looking forward 0.000000 meters along route # Maximum depth: 2890.859048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.859048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593923; longitude = -122.413481; captureRadius = 10; duration = 168; initialDepth = 2840.192235; finalDepth = 2840.859048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.859048 # Seafloor depth: -2890.859048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 77.011286 meters # Minimum depth: 2890.192235 meters looking forward 0.000000 meters along route # Maximum depth: 2890.192235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.192235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594161; longitude = -122.412586; captureRadius = 10; duration = 154; initialDepth = 2839.258118; finalDepth = 2840.192235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.192235 # Seafloor depth: -2890.192235 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 73.746321 meters # Minimum depth: 2889.258118 meters looking forward 0.000000 meters along route # Maximum depth: 2889.258118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.258118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594379; longitude = -122.411769; captureRadius = 10; duration = 147; # abortOnTimeout = True; initialDepth = 2838.686027; finalDepth = 2839.258118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.258118 # Seafloor depth: -2889.258118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 76.256975 meters # Minimum depth: 2888.686027 meters looking forward 0.000000 meters along route # Maximum depth: 2888.686027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.686027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595010; longitude = -122.412028; captureRadius = 10; duration = 152; initialDepth = 2840.451843; finalDepth = 2838.686027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.686027 # Seafloor depth: -2888.686027 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 62.636712 meters # Minimum depth: 2890.451843 meters looking forward 0.000000 meters along route # Maximum depth: 2890.451843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.451843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595663; longitude = -122.412295; captureRadius = 10; duration = 125; # abortOnTimeout = True; initialDepth = 2839.956187; finalDepth = 2840.451843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.451843 # Seafloor depth: -2890.451843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 80.651992 meters # Minimum depth: 2889.956187 meters looking forward 0.000000 meters along route # Maximum depth: 2889.956187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.956187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595486; longitude = -122.412960; captureRadius = 10; duration = 161; initialDepth = 2841.111910; finalDepth = 2839.956187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.956187 # Seafloor depth: -2889.956187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 78.744395 meters # Minimum depth: 2891.111910 meters looking forward 0.000000 meters along route # Maximum depth: 2891.111910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.111910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595258; longitude = -122.413816; captureRadius = 10; duration = 157; initialDepth = 2842.074553; finalDepth = 2841.111910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.11191 # Seafloor depth: -2891.111910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 79.205129 meters # Minimum depth: 2892.074553 meters looking forward 0.000000 meters along route # Maximum depth: 2892.074553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.074553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595035; longitude = -122.414652; captureRadius = 10; duration = 158; initialDepth = 2842.922717; finalDepth = 2842.074553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.074553 # Seafloor depth: -2892.074553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 80.192062 meters # Minimum depth: 2892.922717 meters looking forward 0.000000 meters along route # Maximum depth: 2892.922717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.922717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594811; longitude = -122.415493; captureRadius = 10; duration = 160; initialDepth = 2843.830766; finalDepth = 2842.922717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.922717 # Seafloor depth: -2892.922717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 77.758251 meters # Minimum depth: 2893.830766 meters looking forward 0.000000 meters along route # Maximum depth: 2893.830766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.830766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594584; longitude = -122.416344; captureRadius = 10; duration = 155; initialDepth = 2847.349090; finalDepth = 2843.830766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.830766 # Seafloor depth: -2893.830766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 81.639743 meters # Minimum depth: 2897.349090 meters looking forward 0.000000 meters along route # Maximum depth: 2897.349090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.349090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594365; longitude = -122.417169; captureRadius = 10; duration = 163; initialDepth = 2849.656051; finalDepth = 2847.349090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.34909 # Seafloor depth: -2897.349090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 76.311359 meters # Minimum depth: 2899.656051 meters looking forward 0.000000 meters along route # Maximum depth: 2899.656051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.656051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594134; longitude = -122.418036; captureRadius = 10; duration = 152; initialDepth = 2849.427753; finalDepth = 2849.656051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.656051 # Seafloor depth: -2899.656051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.240910 meters # Minimum depth: 2899.427753 meters looking forward 0.000000 meters along route # Maximum depth: 2899.427753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.427753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593918; longitude = -122.418846; captureRadius = 10; duration = 168; initialDepth = 2850.939465; finalDepth = 2849.427753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.427753 # Seafloor depth: -2899.427753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.241135 meters # Minimum depth: 2900.939465 meters looking forward 0.000000 meters along route # Maximum depth: 2900.939465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.939465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593680; longitude = -122.419740; captureRadius = 10; duration = 168; initialDepth = 2855.045890; finalDepth = 2850.939465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.939465 # Seafloor depth: -2900.939465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.241359 meters # Minimum depth: 2905.045890 meters looking forward 0.000000 meters along route # Maximum depth: 2905.045890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.045890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593442; longitude = -122.420635; captureRadius = 10; duration = 168; initialDepth = 2853.623214; finalDepth = 2855.045890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.04589 # Seafloor depth: -2905.045890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 85.403784 meters # Minimum depth: 2903.623214 meters looking forward 0.000000 meters along route # Maximum depth: 2903.623214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.623214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593203; longitude = -122.421529; captureRadius = 10; duration = 170; initialDepth = 2854.718554; finalDepth = 2853.623214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.623214 # Seafloor depth: -2903.623214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.079609 meters # Minimum depth: 2904.718554 meters looking forward 0.000000 meters along route # Maximum depth: 2904.718554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.718554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592962; longitude = -122.422435; captureRadius = 10; duration = 166; initialDepth = 2855.570218; finalDepth = 2854.718554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.718554 # Seafloor depth: -2904.718554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 76.321280 meters # Minimum depth: 2905.570218 meters looking forward 0.000000 meters along route # Maximum depth: 2905.570218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.570218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592727; longitude = -122.423317; captureRadius = 10; duration = 152; initialDepth = 2852.494109; finalDepth = 2855.570218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.570218 # Seafloor depth: -2905.570218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 81.632716 meters # Minimum depth: 2902.494109 meters looking forward 0.000000 meters along route # Maximum depth: 2902.494109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.494109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592511; longitude = -122.424127; captureRadius = 10; duration = 163; initialDepth = 2857.576617; finalDepth = 2852.494109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.494109 # Seafloor depth: -2902.494109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 77.768976 meters # Minimum depth: 2907.576617 meters looking forward 0.000000 meters along route # Maximum depth: 2907.576617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.576617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592280; longitude = -122.424994; captureRadius = 10; duration = 155; initialDepth = 2859.115393; finalDepth = 2857.576617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.576617 # Seafloor depth: -2907.576617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 80.185810 meters # Minimum depth: 2909.115393 meters looking forward 0.000000 meters along route # Maximum depth: 2909.115393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.115393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592060; longitude = -122.425820; captureRadius = 10; duration = 160; initialDepth = 2859.222080; finalDepth = 2859.115393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.115393 # Seafloor depth: -2909.115393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 79.216686 meters # Minimum depth: 2909.222080 meters looking forward 0.000000 meters along route # Maximum depth: 2909.222080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.222080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591834; longitude = -122.426671; captureRadius = 10; duration = 158; initialDepth = 2859.050417; finalDepth = 2859.222080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.22208 # Seafloor depth: -2909.222080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 78.738889 meters # Minimum depth: 2909.050417 meters looking forward 0.000000 meters along route # Maximum depth: 2909.050417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.050417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591610; longitude = -122.427512; captureRadius = 10; duration = 157; initialDepth = 2859.681466; finalDepth = 2859.050417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.050417 # Seafloor depth: -2909.050417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 80.664412 meters # Minimum depth: 2909.681466 meters looking forward 0.000000 meters along route # Maximum depth: 2909.681466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.681466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591387; longitude = -122.428347; captureRadius = 10; duration = 161; initialDepth = 2861.527429; finalDepth = 2859.681466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.681466 # Seafloor depth: -2909.681466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 77.291953 meters # Minimum depth: 2911.527429 meters looking forward 0.000000 meters along route # Maximum depth: 2911.527429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.527429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591159; longitude = -122.429204; captureRadius = 10; duration = 154; initialDepth = 2867.725928; finalDepth = 2861.527429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.527429 # Seafloor depth: -2911.527429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.243718 meters # Minimum depth: 2917.725928 meters looking forward 0.000000 meters along route # Maximum depth: 2917.725928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.725928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590940; longitude = -122.430024; captureRadius = 10; duration = 168; initialDepth = 2865.067547; finalDepth = 2867.725928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.725928 # Seafloor depth: -2917.725928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.243942 meters # Minimum depth: 2915.067547 meters looking forward 0.000000 meters along route # Maximum depth: 2915.067547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.067547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590702; longitude = -122.430918; captureRadius = 10; duration = 168; initialDepth = 2865.064024; finalDepth = 2865.067547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.067547 # Seafloor depth: -2915.067547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.244167 meters # Minimum depth: 2915.064024 meters looking forward 0.000000 meters along route # Maximum depth: 2915.064024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.064024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590464; longitude = -122.431813; captureRadius = 10; duration = 168; initialDepth = 2866.564790; finalDepth = 2865.064024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.064024 # Seafloor depth: -2915.064024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.428566 meters # Minimum depth: 2916.564790 meters looking forward 0.000000 meters along route # Maximum depth: 2916.564790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.564790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590226; longitude = -122.432707; captureRadius = 10; duration = 168; initialDepth = 2866.456016; finalDepth = 2866.564790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.56479 # Seafloor depth: -2916.564790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.060442 meters # Minimum depth: 2916.456016 meters looking forward 0.000000 meters along route # Maximum depth: 2916.456016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.456016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589987; longitude = -122.433603; captureRadius = 10; duration = 168; initialDepth = 2868.992101; finalDepth = 2866.456016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.456016 # Seafloor depth: -2916.456016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 75.345754 meters # Minimum depth: 2918.992101 meters looking forward 0.000000 meters along route # Maximum depth: 2918.992101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.992101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589749; longitude = -122.434495; captureRadius = 10; duration = 150; initialDepth = 2870.300579; finalDepth = 2868.992101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.992101 # Seafloor depth: -2918.992101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 82.613508 meters # Minimum depth: 2920.300579 meters looking forward 0.000000 meters along route # Maximum depth: 2920.300579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.300579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589536; longitude = -122.435295; captureRadius = 10; duration = 165; initialDepth = 2872.071908; finalDepth = 2870.300579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.300579 # Seafloor depth: -2920.300579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 76.793493 meters # Minimum depth: 2922.071908 meters looking forward 0.000000 meters along route # Maximum depth: 2922.071908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.071908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589303; longitude = -122.436172; captureRadius = 10; duration = 153; initialDepth = 2871.468522; finalDepth = 2872.071908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.071908 # Seafloor depth: -2922.071908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 81.166558 meters # Minimum depth: 2921.468522 meters looking forward 0.000000 meters along route # Maximum depth: 2921.468522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.468522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589086; longitude = -122.436987; captureRadius = 10; duration = 162; initialDepth = 2872.312266; finalDepth = 2871.468522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.468522 # Seafloor depth: -2921.468522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 78.241247 meters # Minimum depth: 2922.312266 meters looking forward 0.000000 meters along route # Maximum depth: 2922.312266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.312266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588856; longitude = -122.437849; captureRadius = 10; duration = 156; initialDepth = 2872.855818; finalDepth = 2872.312266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.312266 # Seafloor depth: -2922.312266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 79.719594 meters # Minimum depth: 2922.855818 meters looking forward 0.000000 meters along route # Maximum depth: 2922.855818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.855818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588635; longitude = -122.438679; captureRadius = 10; duration = 159; initialDepth = 2876.100262; finalDepth = 2872.855818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.855818 # Seafloor depth: -2922.855818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 79.689016 meters # Minimum depth: 2926.100262 meters looking forward 0.000000 meters along route # Maximum depth: 2926.100262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2876.100262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588409; longitude = -122.439525; captureRadius = 10; duration = 159; initialDepth = 2875.951463; finalDepth = 2876.100262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2876.100262 # Seafloor depth: -2926.100262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 78.272616 meters # Minimum depth: 2925.951463 meters looking forward 0.000000 meters along route # Maximum depth: 2925.951463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.951463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588184; longitude = -122.440371; captureRadius = 10; duration = 156; initialDepth = 2878.389541; finalDepth = 2875.951463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.951463 # Seafloor depth: -2925.951463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 81.136799 meters # Minimum depth: 2928.389541 meters looking forward 0.000000 meters along route # Maximum depth: 2928.389541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.389541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587963; longitude = -122.441202; captureRadius = 10; duration = 162; initialDepth = 2876.844765; finalDepth = 2878.389541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.389541 # Seafloor depth: -2928.389541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 76.825623 meters # Minimum depth: 2926.844765 meters looking forward 0.000000 meters along route # Maximum depth: 2926.844765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2876.844765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587733; longitude = -122.442063; captureRadius = 10; duration = 153; initialDepth = 2880.041658; finalDepth = 2876.844765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2876.844765 # Seafloor depth: -2926.844765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 82.584597 meters # Minimum depth: 2930.041658 meters looking forward 0.000000 meters along route # Maximum depth: 2930.041658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2880.041658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587516; longitude = -122.442879; captureRadius = 10; duration = 165; initialDepth = 2881.483344; finalDepth = 2880.041658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2880.041658 # Seafloor depth: -2930.041658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 75.378615 meters # Minimum depth: 2931.483344 meters looking forward 0.000000 meters along route # Maximum depth: 2931.483344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2881.483344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587283; longitude = -122.443755; captureRadius = 10; duration = 150; initialDepth = 2882.564220; finalDepth = 2881.483344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2881.483344 # Seafloor depth: -2931.483344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.247370 meters # Minimum depth: 2932.564220 meters looking forward 0.000000 meters along route # Maximum depth: 2932.564220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2882.564220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587070; longitude = -122.444555; captureRadius = 10; duration = 168; initialDepth = 2884.838838; finalDepth = 2882.564220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2882.56422 # Seafloor depth: -2932.564220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 77.570569 meters # Minimum depth: 2934.838838 meters looking forward 0.000000 meters along route # Maximum depth: 2934.838838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2884.838838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586831; longitude = -122.445450; captureRadius = 10; duration = 155; initialDepth = 2884.272766; finalDepth = 2884.838838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2884.838838 # Seafloor depth: -2934.838838 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 67.819001 meters # Minimum depth: 2934.272766 meters looking forward 0.000000 meters along route # Maximum depth: 2934.272766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2884.272766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586612; longitude = -122.446273; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2886.058091; finalDepth = 2884.272766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2884.272766 # Seafloor depth: -2934.272766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 82.185016 meters # Minimum depth: 2936.058091 meters looking forward 0.000000 meters along route # Maximum depth: 2936.058091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2886.058091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587193; longitude = -122.446511; captureRadius = 10; duration = 164; initialDepth = 2885.873962; finalDepth = 2886.058091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2886.058091 # Seafloor depth: -2936.058091 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 70.017469 meters # Minimum depth: 2935.873962 meters looking forward 0.000000 meters along route # Maximum depth: 2935.873962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2885.873962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587896; longitude = -122.446799; captureRadius = 10; duration = 140; # abortOnTimeout = True; initialDepth = 2882.630952; finalDepth = 2885.873962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2885.873962 # Seafloor depth: -2935.873962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 78.167637 meters # Minimum depth: 2932.630952 meters looking forward 0.000000 meters along route # Maximum depth: 2932.630952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2882.630952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588094; longitude = -122.446056; captureRadius = 10; duration = 156; initialDepth = 2882.028382; finalDepth = 2882.630952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2882.630952 # Seafloor depth: -2932.630952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 81.245271 meters # Minimum depth: 2932.028382 meters looking forward 0.000000 meters along route # Maximum depth: 2932.028382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2882.028382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588315; longitude = -122.445226; captureRadius = 10; duration = 162; initialDepth = 2880.356040; finalDepth = 2882.028382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2882.028382 # Seafloor depth: -2932.028382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 76.715187 meters # Minimum depth: 2930.356040 meters looking forward 0.000000 meters along route # Maximum depth: 2930.356040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2880.356040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588545; longitude = -122.444364; captureRadius = 10; duration = 153; initialDepth = 2879.667900; finalDepth = 2880.356040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2880.35604 # Seafloor depth: -2930.356040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.696915 meters # Minimum depth: 2929.667900 meters looking forward 0.000000 meters along route # Maximum depth: 2929.667900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.667900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588762; longitude = -122.443549; captureRadius = 10; duration = 165; initialDepth = 2878.412307; finalDepth = 2879.667900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.6679 # Seafloor depth: -2929.667900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 75.262753 meters # Minimum depth: 2928.412307 meters looking forward 0.000000 meters along route # Maximum depth: 2928.412307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.412307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588995; longitude = -122.442672; captureRadius = 10; duration = 150; initialDepth = 2874.496789; finalDepth = 2878.412307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.412307 # Seafloor depth: -2928.412307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.244833 meters # Minimum depth: 2924.496789 meters looking forward 0.000000 meters along route # Maximum depth: 2924.496789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.496789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589208; longitude = -122.441873; captureRadius = 10; duration = 168; initialDepth = 2875.544956; finalDepth = 2874.496789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.496789 # Seafloor depth: -2924.496789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.244608 meters # Minimum depth: 2925.544956 meters looking forward 0.000000 meters along route # Maximum depth: 2925.544956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.544956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589446; longitude = -122.440978; captureRadius = 10; duration = 168; initialDepth = 2873.842881; finalDepth = 2875.544956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.544956 # Seafloor depth: -2925.544956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 75.069596 meters # Minimum depth: 2923.842881 meters looking forward 0.000000 meters along route # Maximum depth: 2923.842881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.842881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589685; longitude = -122.440084; captureRadius = 10; duration = 150; initialDepth = 2872.779988; finalDepth = 2873.842881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.842881 # Seafloor depth: -2923.842881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.888439 meters # Minimum depth: 2922.779988 meters looking forward 0.000000 meters along route # Maximum depth: 2922.779988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.779988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589897; longitude = -122.439287; captureRadius = 10; duration = 165; initialDepth = 2871.314598; finalDepth = 2872.779988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.779988 # Seafloor depth: -2922.779988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 76.521249 meters # Minimum depth: 2921.314598 meters looking forward 0.000000 meters along route # Maximum depth: 2921.314598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.314598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590131; longitude = -122.438408; captureRadius = 10; duration = 153; initialDepth = 2869.504580; finalDepth = 2871.314598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.314598 # Seafloor depth: -2921.314598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 81.435995 meters # Minimum depth: 2919.504580 meters looking forward 0.000000 meters along route # Maximum depth: 2919.504580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.504580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590348; longitude = -122.437595; captureRadius = 10; duration = 162; initialDepth = 2869.417436; finalDepth = 2869.504580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.50458 # Seafloor depth: -2919.504580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 77.972888 meters # Minimum depth: 2919.417436 meters looking forward 0.000000 meters along route # Maximum depth: 2919.417436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.417436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590578; longitude = -122.436731; captureRadius = 10; duration = 155; initialDepth = 2871.608088; finalDepth = 2869.417436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.417436 # Seafloor depth: -2919.417436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 79.983567 meters # Minimum depth: 2921.608088 meters looking forward 0.000000 meters along route # Maximum depth: 2921.608088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.608088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590798; longitude = -122.435903; captureRadius = 10; duration = 159; initialDepth = 2867.053883; finalDepth = 2871.608088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.608088 # Seafloor depth: -2921.608088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 79.424512 meters # Minimum depth: 2917.053883 meters looking forward 0.000000 meters along route # Maximum depth: 2917.053883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.053883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591024; longitude = -122.435054; captureRadius = 10; duration = 158; initialDepth = 2865.823655; finalDepth = 2867.053883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.053883 # Seafloor depth: -2917.053883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 78.531152 meters # Minimum depth: 2915.823655 meters looking forward 0.000000 meters along route # Maximum depth: 2915.823655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.823655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591249; longitude = -122.434211; captureRadius = 10; duration = 157; initialDepth = 2865.177819; finalDepth = 2865.823655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.823655 # Seafloor depth: -2915.823655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 80.876121 meters # Minimum depth: 2915.177819 meters looking forward 0.000000 meters along route # Maximum depth: 2915.177819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.177819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591471; longitude = -122.433377; captureRadius = 10; duration = 161; initialDepth = 2863.306994; finalDepth = 2865.177819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.177819 # Seafloor depth: -2915.177819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 77.078753 meters # Minimum depth: 2913.306994 meters looking forward 0.000000 meters along route # Maximum depth: 2913.306994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.306994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591700; longitude = -122.432519; captureRadius = 10; duration = 154; initialDepth = 2864.684953; finalDepth = 2863.306994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.306994 # Seafloor depth: -2913.306994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.242277 meters # Minimum depth: 2914.684953 meters looking forward 0.000000 meters along route # Maximum depth: 2914.684953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.684953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591918; longitude = -122.431701; captureRadius = 10; duration = 168; initialDepth = 2861.141889; finalDepth = 2864.684953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.684953 # Seafloor depth: -2914.684953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.242052 meters # Minimum depth: 2911.141889 meters looking forward 0.000000 meters along route # Maximum depth: 2911.141889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.141889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592156; longitude = -122.430807; captureRadius = 10; duration = 168; initialDepth = 2860.731095; finalDepth = 2861.141889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.141889 # Seafloor depth: -2911.141889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.241828 meters # Minimum depth: 2910.731095 meters looking forward 0.000000 meters along route # Maximum depth: 2910.731095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.731095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592394; longitude = -122.429912; captureRadius = 10; duration = 168; initialDepth = 2861.598316; finalDepth = 2860.731095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.731095 # Seafloor depth: -2910.731095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.650238 meters # Minimum depth: 2911.598316 meters looking forward 0.000000 meters along route # Maximum depth: 2911.598316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.598316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592632; longitude = -122.429018; captureRadius = 10; duration = 169; initialDepth = 2859.505046; finalDepth = 2861.598316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.598316 # Seafloor depth: -2911.598316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 83.832743 meters # Minimum depth: 2909.505046 meters looking forward 0.000000 meters along route # Maximum depth: 2909.505046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.505046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592872; longitude = -122.428119; captureRadius = 10; duration = 167; initialDepth = 2857.992123; finalDepth = 2859.505046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.505046 # Seafloor depth: -2909.505046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 75.571635 meters # Minimum depth: 2907.992123 meters looking forward 0.000000 meters along route # Maximum depth: 2907.992123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.992123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593109; longitude = -122.427230; captureRadius = 10; duration = 151; initialDepth = 2858.512996; finalDepth = 2857.992123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.992123 # Seafloor depth: -2907.992123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.380343 meters # Minimum depth: 2908.512996 meters looking forward 0.000000 meters along route # Maximum depth: 2908.512996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.512996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593322; longitude = -122.426427; captureRadius = 10; duration = 164; initialDepth = 2852.936764; finalDepth = 2858.512996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.512996 # Seafloor depth: -2908.512996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 77.023231 meters # Minimum depth: 2902.936764 meters looking forward 0.000000 meters along route # Maximum depth: 2902.936764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.936764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593555; longitude = -122.425553; captureRadius = 10; duration = 154; initialDepth = 2852.741572; finalDepth = 2852.936764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.936764 # Seafloor depth: -2902.936764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 80.927958 meters # Minimum depth: 2902.741572 meters looking forward 0.000000 meters along route # Maximum depth: 2902.741572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.741572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593773; longitude = -122.424735; captureRadius = 10; duration = 161; initialDepth = 2854.275881; finalDepth = 2852.741572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.741572 # Seafloor depth: -2902.741572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 78.474812 meters # Minimum depth: 2904.275881 meters looking forward 0.000000 meters along route # Maximum depth: 2904.275881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.275881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594002; longitude = -122.423876; captureRadius = 10; duration = 156; initialDepth = 2853.329673; finalDepth = 2854.275881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.275881 # Seafloor depth: -2904.275881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 79.475588 meters # Minimum depth: 2903.329673 meters looking forward 0.000000 meters along route # Maximum depth: 2903.329673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.329673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594224; longitude = -122.423043; captureRadius = 10; duration = 158; initialDepth = 2851.346285; finalDepth = 2853.329673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.329673 # Seafloor depth: -2903.329673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 79.926377 meters # Minimum depth: 2901.346285 meters looking forward 0.000000 meters along route # Maximum depth: 2901.346285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.346285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594449; longitude = -122.422200; captureRadius = 10; duration = 159; initialDepth = 2849.749020; finalDepth = 2851.346285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.346285 # Seafloor depth: -2901.346285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 78.023233 meters # Minimum depth: 2899.749020 meters looking forward 0.000000 meters along route # Maximum depth: 2899.749020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.749020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594675; longitude = -122.421351; captureRadius = 10; duration = 156; initialDepth = 2849.420968; finalDepth = 2849.749020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.74902 # Seafloor depth: -2899.749020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 81.377929 meters # Minimum depth: 2899.420968 meters looking forward 0.000000 meters along route # Maximum depth: 2899.420968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.420968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594895; longitude = -122.420523; captureRadius = 10; duration = 162; initialDepth = 2847.266638; finalDepth = 2849.420968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.420968 # Seafloor depth: -2899.420968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 76.570892 meters # Minimum depth: 2897.266638 meters looking forward 0.000000 meters along route # Maximum depth: 2897.266638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.266638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595125; longitude = -122.419659; captureRadius = 10; duration = 153; initialDepth = 2846.239815; finalDepth = 2847.266638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.266638 # Seafloor depth: -2897.266638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.829466 meters # Minimum depth: 2896.239815 meters looking forward 0.000000 meters along route # Maximum depth: 2896.239815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.239815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595342; longitude = -122.418846; captureRadius = 10; duration = 165; initialDepth = 2846.558108; finalDepth = 2846.239815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.239815 # Seafloor depth: -2896.239815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 75.118566 meters # Minimum depth: 2896.558108 meters looking forward 0.000000 meters along route # Maximum depth: 2896.558108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.558108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595576; longitude = -122.417967; captureRadius = 10; duration = 150; initialDepth = 2843.617669; finalDepth = 2846.558108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.558108 # Seafloor depth: -2896.558108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.280988 meters # Minimum depth: 2893.617669 meters looking forward 0.000000 meters along route # Maximum depth: 2893.617669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.617669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595788; longitude = -122.417169; captureRadius = 10; duration = 168; initialDepth = 2841.213614; finalDepth = 2843.617669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.617669 # Seafloor depth: -2893.617669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.196042 meters # Minimum depth: 2891.213614 meters looking forward 0.000000 meters along route # Maximum depth: 2891.213614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.213614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596027; longitude = -122.416275; captureRadius = 10; duration = 168; initialDepth = 2839.756628; finalDepth = 2841.213614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.213614 # Seafloor depth: -2891.213614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 75.202709 meters # Minimum depth: 2889.756628 meters looking forward 0.000000 meters along route # Maximum depth: 2889.756628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.756628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596265; longitude = -122.415381; captureRadius = 10; duration = 150; initialDepth = 2838.682778; finalDepth = 2839.756628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.756628 # Seafloor depth: -2889.756628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.743692 meters # Minimum depth: 2888.682778 meters looking forward 0.000000 meters along route # Maximum depth: 2888.682778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.682778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596477; longitude = -122.414583; captureRadius = 10; duration = 165; initialDepth = 2836.748009; finalDepth = 2838.682778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.682778 # Seafloor depth: -2888.682778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 83.300814 meters # Minimum depth: 2886.748009 meters looking forward 0.000000 meters along route # Maximum depth: 2886.748009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.748009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596711; longitude = -122.413704; captureRadius = 10; duration = 166; initialDepth = 2835.357727; finalDepth = 2836.748009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.748009 # Seafloor depth: -2886.748009 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 71.522717 meters # Minimum depth: 2885.357727 meters looking forward 0.000000 meters along route # Maximum depth: 2885.357727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.357727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596947; longitude = -122.412820; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 2834.453971; finalDepth = 2835.357727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.357727 # Seafloor depth: -2885.357727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 78.480130 meters # Minimum depth: 2884.453971 meters looking forward 0.000000 meters along route # Maximum depth: 2884.453971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.453971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597559; longitude = -122.413071; captureRadius = 10; duration = 156; initialDepth = 2832.681335; finalDepth = 2834.453971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.453971 # Seafloor depth: -2884.453971 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 65.339301 meters # Minimum depth: 2882.681335 meters looking forward 0.000000 meters along route # Maximum depth: 2882.681335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.681335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598231; longitude = -122.413346; captureRadius = 10; duration = 130; # abortOnTimeout = True; initialDepth = 2833.419617; finalDepth = 2832.681335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.681335 # Seafloor depth: -2882.681335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 76.591648 meters # Minimum depth: 2883.419617 meters looking forward 0.000000 meters along route # Maximum depth: 2883.419617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.419617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598046; longitude = -122.414040; captureRadius = 10; duration = 153; initialDepth = 2835.097084; finalDepth = 2833.419617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.419617 # Seafloor depth: -2883.419617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 81.352297 meters # Minimum depth: 2885.097084 meters looking forward 0.000000 meters along route # Maximum depth: 2885.097084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.097084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597830; longitude = -122.414853; captureRadius = 10; duration = 162; initialDepth = 2837.677434; finalDepth = 2835.097084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.097084 # Seafloor depth: -2885.097084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 78.043944 meters # Minimum depth: 2887.677434 meters looking forward 0.000000 meters along route # Maximum depth: 2887.677434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.677434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597600; longitude = -122.415716; captureRadius = 10; duration = 156; initialDepth = 2839.459123; finalDepth = 2837.677434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.677434 # Seafloor depth: -2887.677434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 79.900790 meters # Minimum depth: 2889.459123 meters looking forward 0.000000 meters along route # Maximum depth: 2889.459123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.459123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597379; longitude = -122.416545; captureRadius = 10; duration = 159; initialDepth = 2840.771750; finalDepth = 2839.459123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.459123 # Seafloor depth: -2889.459123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 79.496255 meters # Minimum depth: 2890.771750 meters looking forward 0.000000 meters along route # Maximum depth: 2890.771750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.771750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597153; longitude = -122.417393; captureRadius = 10; duration = 158; initialDepth = 2841.689060; finalDepth = 2840.771750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.77175 # Seafloor depth: -2890.771750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 78.449269 meters # Minimum depth: 2891.689060 meters looking forward 0.000000 meters along route # Maximum depth: 2891.689060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.689060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596928; longitude = -122.418237; captureRadius = 10; duration = 156; initialDepth = 2845.106961; finalDepth = 2841.689060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.68906 # Seafloor depth: -2891.689060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 80.948580 meters # Minimum depth: 2895.106961 meters looking forward 0.000000 meters along route # Maximum depth: 2895.106961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.106961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596706; longitude = -122.419070; captureRadius = 10; duration = 161; initialDepth = 2844.300304; finalDepth = 2845.106961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.106961 # Seafloor depth: -2895.106961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 76.997732 meters # Minimum depth: 2894.300304 meters looking forward 0.000000 meters along route # Maximum depth: 2894.300304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.300304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596477; longitude = -122.419929; captureRadius = 10; duration = 153; initialDepth = 2847.276094; finalDepth = 2844.300304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.300304 # Seafloor depth: -2894.300304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 84.238356 meters # Minimum depth: 2897.276094 meters looking forward 0.000000 meters along route # Maximum depth: 2897.276094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.276094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596260; longitude = -122.420746; captureRadius = 10; duration = 168; initialDepth = 2846.168742; finalDepth = 2847.276094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.276094 # Seafloor depth: -2897.276094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 84.238581 meters # Minimum depth: 2896.168742 meters looking forward 0.000000 meters along route # Maximum depth: 2896.168742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.168742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596022; longitude = -122.421641; captureRadius = 10; duration = 168; initialDepth = 2851.389556; finalDepth = 2846.168742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.168742 # Seafloor depth: -2896.168742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 84.238806 meters # Minimum depth: 2901.389556 meters looking forward 0.000000 meters along route # Maximum depth: 2901.389556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.389556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595783; longitude = -122.422535; captureRadius = 10; duration = 168; initialDepth = 2851.154596; finalDepth = 2851.389556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.389556 # Seafloor depth: -2901.389556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 84.724694 meters # Minimum depth: 2901.154596 meters looking forward 0.000000 meters along route # Maximum depth: 2901.154596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.154596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595545; longitude = -122.423429; captureRadius = 10; duration = 169; initialDepth = 2852.840655; finalDepth = 2851.154596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.154596 # Seafloor depth: -2901.154596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 83.753590 meters # Minimum depth: 2902.840655 meters looking forward 0.000000 meters along route # Maximum depth: 2902.840655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.840655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595306; longitude = -122.424328; captureRadius = 10; duration = 167; initialDepth = 2855.557396; finalDepth = 2852.840655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.840655 # Seafloor depth: -2902.840655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 75.647153 meters # Minimum depth: 2905.557396 meters looking forward 0.000000 meters along route # Maximum depth: 2905.557396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.557396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595069; longitude = -122.425218; captureRadius = 10; duration = 151; initialDepth = 2857.344143; finalDepth = 2855.557396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.557396 # Seafloor depth: -2905.557396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 82.302054 meters # Minimum depth: 2907.344143 meters looking forward 0.000000 meters along route # Maximum depth: 2907.344143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.344143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594855; longitude = -122.426021; captureRadius = 10; duration = 164; initialDepth = 2857.358778; finalDepth = 2857.344143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.344143 # Seafloor depth: -2907.344143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.099494 meters # Minimum depth: 2907.358778 meters looking forward 0.000000 meters along route # Maximum depth: 2907.358778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.358778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594622; longitude = -122.426894; captureRadius = 10; duration = 154; initialDepth = 2858.984075; finalDepth = 2857.358778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.358778 # Seafloor depth: -2907.358778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 80.850503 meters # Minimum depth: 2908.984075 meters looking forward 0.000000 meters along route # Maximum depth: 2908.984075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.984075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594404; longitude = -122.427713; captureRadius = 10; duration = 161; initialDepth = 2857.779271; finalDepth = 2858.984075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.984075 # Seafloor depth: -2908.984075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 78.551849 meters # Minimum depth: 2907.779271 meters looking forward 0.000000 meters along route # Maximum depth: 2907.779271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.779271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594176; longitude = -122.428571; captureRadius = 10; duration = 157; initialDepth = 2862.025654; finalDepth = 2857.779271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.779271 # Seafloor depth: -2907.779271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 79.398938 meters # Minimum depth: 2912.025654 meters looking forward 0.000000 meters along route # Maximum depth: 2912.025654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.025654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593953; longitude = -122.429405; captureRadius = 10; duration = 158; initialDepth = 2862.493374; finalDepth = 2862.025654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.025654 # Seafloor depth: -2912.025654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 80.004218 meters # Minimum depth: 2912.493374 meters looking forward 0.000000 meters along route # Maximum depth: 2912.493374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.493374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593729; longitude = -122.430248; captureRadius = 10; duration = 160; initialDepth = 2861.363376; finalDepth = 2862.493374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.493374 # Seafloor depth: -2912.493374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.947359 meters # Minimum depth: 2911.363376 meters looking forward 0.000000 meters along route # Maximum depth: 2911.363376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.363376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593503; longitude = -122.431097; captureRadius = 10; duration = 155; initialDepth = 2862.909722; finalDepth = 2861.363376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.363376 # Seafloor depth: -2911.363376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 81.456601 meters # Minimum depth: 2912.909722 meters looking forward 0.000000 meters along route # Maximum depth: 2912.909722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.909722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593282; longitude = -122.431924; captureRadius = 10; duration = 162; initialDepth = 2862.131104; finalDepth = 2862.909722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.909722 # Seafloor depth: -2912.909722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 76.495765 meters # Minimum depth: 2912.131104 meters looking forward 0.000000 meters along route # Maximum depth: 2912.131104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.131104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593052; longitude = -122.432789; captureRadius = 10; duration = 152; initialDepth = 2862.695731; finalDepth = 2862.131104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.131104 # Seafloor depth: -2912.131104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 84.241585 meters # Minimum depth: 2912.695731 meters looking forward 0.000000 meters along route # Maximum depth: 2912.695731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.695731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592836; longitude = -122.433601; captureRadius = 10; duration = 168; initialDepth = 2863.394219; finalDepth = 2862.695731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.695731 # Seafloor depth: -2912.695731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 84.241810 meters # Minimum depth: 2913.394219 meters looking forward 0.000000 meters along route # Maximum depth: 2913.394219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.394219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592597; longitude = -122.434495; captureRadius = 10; duration = 168; initialDepth = 2866.634763; finalDepth = 2863.394219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.394219 # Seafloor depth: -2913.394219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 84.242035 meters # Minimum depth: 2916.634763 meters looking forward 0.000000 meters along route # Maximum depth: 2916.634763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.634763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592359; longitude = -122.435389; captureRadius = 10; duration = 168; initialDepth = 2867.881723; finalDepth = 2866.634763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.634763 # Seafloor depth: -2916.634763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 85.232868 meters # Minimum depth: 2917.881723 meters looking forward 0.000000 meters along route # Maximum depth: 2917.881723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.881723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592121; longitude = -122.436284; captureRadius = 10; duration = 170; initialDepth = 2869.881475; finalDepth = 2867.881723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.881723 # Seafloor depth: -2917.881723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 83.251875 meters # Minimum depth: 2919.881475 meters looking forward 0.000000 meters along route # Maximum depth: 2919.881475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.881475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591880; longitude = -122.437188; captureRadius = 10; duration = 166; initialDepth = 2868.570975; finalDepth = 2869.881475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.881475 # Seafloor depth: -2919.881475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 76.154982 meters # Minimum depth: 2918.570975 meters looking forward 0.000000 meters along route # Maximum depth: 2918.570975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.570975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591645; longitude = -122.438072; captureRadius = 10; duration = 152; initialDepth = 2870.380262; finalDepth = 2868.570975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.570975 # Seafloor depth: -2918.570975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 81.800282 meters # Minimum depth: 2920.380262 meters looking forward 0.000000 meters along route # Maximum depth: 2920.380262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.380262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591429; longitude = -122.438881; captureRadius = 10; duration = 163; initialDepth = 2871.541104; finalDepth = 2870.380262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.380262 # Seafloor depth: -2920.380262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.607380 meters # Minimum depth: 2921.541104 meters looking forward 0.000000 meters along route # Maximum depth: 2921.541104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.541104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591198; longitude = -122.439749; captureRadius = 10; duration = 155; initialDepth = 2871.604139; finalDepth = 2871.541104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.541104 # Seafloor depth: -2921.541104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 80.348673 meters # Minimum depth: 2921.604139 meters looking forward 0.000000 meters along route # Maximum depth: 2921.604139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.604139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590979; longitude = -122.440573; captureRadius = 10; duration = 160; initialDepth = 2874.423291; finalDepth = 2871.604139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.604139 # Seafloor depth: -2921.604139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 79.059794 meters # Minimum depth: 2924.423291 meters looking forward 0.000000 meters along route # Maximum depth: 2924.423291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.423291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590751; longitude = -122.441426; captureRadius = 10; duration = 158; initialDepth = 2877.644805; finalDepth = 2874.423291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.423291 # Seafloor depth: -2924.423291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 78.897050 meters # Minimum depth: 2927.644805 meters looking forward 0.000000 meters along route # Maximum depth: 2927.644805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.644805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590528; longitude = -122.442265; captureRadius = 10; duration = 157; initialDepth = 2876.442194; finalDepth = 2877.644805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.644805 # Seafloor depth: -2927.644805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 80.512222 meters # Minimum depth: 2926.442194 meters looking forward 0.000000 meters along route # Maximum depth: 2926.442194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2876.442194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590305; longitude = -122.443102; captureRadius = 10; duration = 161; initialDepth = 2878.198594; finalDepth = 2876.442194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2876.442194 # Seafloor depth: -2926.442194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.445413 meters # Minimum depth: 2928.198594 meters looking forward 0.000000 meters along route # Maximum depth: 2928.198594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.198594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590077; longitude = -122.443957; captureRadius = 10; duration = 154; initialDepth = 2879.056719; finalDepth = 2878.198594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.198594 # Seafloor depth: -2928.198594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 81.964664 meters # Minimum depth: 2929.056719 meters looking forward 0.000000 meters along route # Maximum depth: 2929.056719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.056719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589858; longitude = -122.444779; captureRadius = 10; duration = 163; initialDepth = 2880.865409; finalDepth = 2879.056719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.056719 # Seafloor depth: -2929.056719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 75.993761 meters # Minimum depth: 2930.865409 meters looking forward 0.000000 meters along route # Maximum depth: 2930.865409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2880.865409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589626; longitude = -122.445649; captureRadius = 10; duration = 151; initialDepth = 2882.912908; finalDepth = 2880.865409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2880.865409 # Seafloor depth: -2930.865409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 81.900249 meters # Minimum depth: 2932.912908 meters looking forward 0.000000 meters along route # Maximum depth: 2932.912908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2882.912908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589412; longitude = -122.446456; captureRadius = 10; duration = 163; initialDepth = 2885.801453; finalDepth = 2882.912908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2882.912908 # Seafloor depth: -2932.912908 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 73.231380 meters # Minimum depth: 2935.801453 meters looking forward 0.000000 meters along route # Maximum depth: 2935.801453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2885.801453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589180; longitude = -122.447325; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 2884.294759; finalDepth = 2885.801453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2885.801453 # Seafloor depth: -2935.801453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 76.800273 meters # Minimum depth: 2934.294759 meters looking forward 0.000000 meters along route # Maximum depth: 2934.294759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2884.294759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589807; longitude = -122.447582; captureRadius = 10; duration = 153; initialDepth = 2882.737854; finalDepth = 2884.294759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2884.294759 # Seafloor depth: -2934.294759 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 131.545827 meters # Minimum depth: 2932.737854 meters looking forward 0.000000 meters along route # Maximum depth: 2932.737854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2882.737854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590464; longitude = -122.447852; captureRadius = 10; duration = 263; # abortOnTimeout = True; initialDepth = 2881.159080; finalDepth = 2882.737854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2882.737854 # Seafloor depth: -2932.737854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 84.242954 meters # Minimum depth: 2931.159080 meters looking forward 0.000000 meters along route # Maximum depth: 2931.159080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2881.159080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590836; longitude = -122.446456; captureRadius = 10; duration = 168; initialDepth = 2877.826612; finalDepth = 2881.159080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2881.15908 # Seafloor depth: -2931.159080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.242729 meters # Minimum depth: 2927.826612 meters looking forward 0.000000 meters along route # Maximum depth: 2927.826612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.826612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591074; longitude = -122.445561; captureRadius = 10; duration = 168; initialDepth = 2877.469821; finalDepth = 2877.826612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.826612 # Seafloor depth: -2927.826612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.242504 meters # Minimum depth: 2927.469821 meters looking forward 0.000000 meters along route # Maximum depth: 2927.469821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.469821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591312; longitude = -122.444667; captureRadius = 10; duration = 168; initialDepth = 2876.542224; finalDepth = 2877.469821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.469821 # Seafloor depth: -2927.469821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.676022 meters # Minimum depth: 2926.542224 meters looking forward 0.000000 meters along route # Maximum depth: 2926.542224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2876.542224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591551; longitude = -122.443773; captureRadius = 10; duration = 169; initialDepth = 2874.310858; finalDepth = 2876.542224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2876.542224 # Seafloor depth: -2926.542224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 83.808312 meters # Minimum depth: 2924.310858 meters looking forward 0.000000 meters along route # Maximum depth: 2924.310858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.310858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591790; longitude = -122.442874; captureRadius = 10; duration = 167; initialDepth = 2874.400349; finalDepth = 2874.310858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.310858 # Seafloor depth: -2924.310858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.602037 meters # Minimum depth: 2924.400349 meters looking forward 0.000000 meters along route # Maximum depth: 2924.400349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.400349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592027; longitude = -122.441984; captureRadius = 10; duration = 151; initialDepth = 2872.782008; finalDepth = 2874.400349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.400349 # Seafloor depth: -2924.400349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 82.351209 meters # Minimum depth: 2922.782008 meters looking forward 0.000000 meters along route # Maximum depth: 2922.782008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.782008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592241; longitude = -122.441182; captureRadius = 10; duration = 164; initialDepth = 2871.041589; finalDepth = 2872.782008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.782008 # Seafloor depth: -2922.782008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 77.058335 meters # Minimum depth: 2921.041589 meters looking forward 0.000000 meters along route # Maximum depth: 2921.041589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.041589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592473; longitude = -122.440308; captureRadius = 10; duration = 154; initialDepth = 2870.537174; finalDepth = 2871.041589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.041589 # Seafloor depth: -2921.041589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 80.894121 meters # Minimum depth: 2920.537174 meters looking forward 0.000000 meters along route # Maximum depth: 2920.537174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.537174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592691; longitude = -122.439490; captureRadius = 10; duration = 161; initialDepth = 2868.312664; finalDepth = 2870.537174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.537174 # Seafloor depth: -2920.537174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 78.514618 meters # Minimum depth: 2918.312664 meters looking forward 0.000000 meters along route # Maximum depth: 2918.312664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.312664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592920; longitude = -122.438631; captureRadius = 10; duration = 157; initialDepth = 2867.303098; finalDepth = 2868.312664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.312664 # Seafloor depth: -2918.312664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 79.437048 meters # Minimum depth: 2917.303098 meters looking forward 0.000000 meters along route # Maximum depth: 2917.303098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.303098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593142; longitude = -122.437798; captureRadius = 10; duration = 158; initialDepth = 2865.267927; finalDepth = 2867.303098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.303098 # Seafloor depth: -2917.303098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 79.970886 meters # Minimum depth: 2915.267927 meters looking forward 0.000000 meters along route # Maximum depth: 2915.267927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.267927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593367; longitude = -122.436954; captureRadius = 10; duration = 159; initialDepth = 2864.289458; finalDepth = 2865.267927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.267927 # Seafloor depth: -2915.267927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 77.979990 meters # Minimum depth: 2914.289458 meters looking forward 0.000000 meters along route # Maximum depth: 2914.289458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.289458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593593; longitude = -122.436105; captureRadius = 10; duration = 155; initialDepth = 2862.898511; finalDepth = 2864.289458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.289458 # Seafloor depth: -2914.289458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 81.427140 meters # Minimum depth: 2912.898511 meters looking forward 0.000000 meters along route # Maximum depth: 2912.898511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.898511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593813; longitude = -122.435278; captureRadius = 10; duration = 162; initialDepth = 2862.557509; finalDepth = 2862.898511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.898511 # Seafloor depth: -2912.898511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 76.522945 meters # Minimum depth: 2912.557509 meters looking forward 0.000000 meters along route # Maximum depth: 2912.557509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.557509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594044; longitude = -122.434413; captureRadius = 10; duration = 153; initialDepth = 2865.411444; finalDepth = 2862.557509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.557509 # Seafloor depth: -2912.557509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 82.883380 meters # Minimum depth: 2915.411444 meters looking forward 0.000000 meters along route # Maximum depth: 2915.411444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.411444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594260; longitude = -122.433601; captureRadius = 10; duration = 165; initialDepth = 2861.191041; finalDepth = 2865.411444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.411444 # Seafloor depth: -2915.411444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.065916 meters # Minimum depth: 2911.191041 meters looking forward 0.000000 meters along route # Maximum depth: 2911.191041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.191041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594494; longitude = -122.432721; captureRadius = 10; duration = 150; initialDepth = 2860.592499; finalDepth = 2861.191041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.191041 # Seafloor depth: -2911.191041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.339604 meters # Minimum depth: 2910.592499 meters looking forward 0.000000 meters along route # Maximum depth: 2910.592499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.592499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594707; longitude = -122.431924; captureRadius = 10; duration = 168; initialDepth = 2860.505712; finalDepth = 2860.592499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.592499 # Seafloor depth: -2910.592499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.138774 meters # Minimum depth: 2910.505712 meters looking forward 0.000000 meters along route # Maximum depth: 2910.505712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.505712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594945; longitude = -122.431029; captureRadius = 10; duration = 168; initialDepth = 2859.434998; finalDepth = 2860.505712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.505712 # Seafloor depth: -2910.505712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.265942 meters # Minimum depth: 2909.434998 meters looking forward 0.000000 meters along route # Maximum depth: 2909.434998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.434998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595183; longitude = -122.430136; captureRadius = 10; duration = 150; initialDepth = 2858.370579; finalDepth = 2859.434998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.434998 # Seafloor depth: -2909.434998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 82.681721 meters # Minimum depth: 2908.370579 meters looking forward 0.000000 meters along route # Maximum depth: 2908.370579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.370579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595396; longitude = -122.429337; captureRadius = 10; duration = 165; initialDepth = 2858.094545; finalDepth = 2858.370579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.370579 # Seafloor depth: -2908.370579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 76.722190 meters # Minimum depth: 2908.094545 meters looking forward 0.000000 meters along route # Maximum depth: 2908.094545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.094545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595630; longitude = -122.428459; captureRadius = 10; duration = 153; initialDepth = 2857.677736; finalDepth = 2858.094545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.094545 # Seafloor depth: -2908.094545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 81.224684 meters # Minimum depth: 2907.677736 meters looking forward 0.000000 meters along route # Maximum depth: 2907.677736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.677736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595846; longitude = -122.427645; captureRadius = 10; duration = 162; initialDepth = 2856.923706; finalDepth = 2857.677736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.677736 # Seafloor depth: -2907.677736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 78.178423 meters # Minimum depth: 2906.923706 meters looking forward 0.000000 meters along route # Maximum depth: 2906.923706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.923706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596076; longitude = -122.426782; captureRadius = 10; duration = 156; initialDepth = 2858.088762; finalDepth = 2856.923706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.923706 # Seafloor depth: -2906.923706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 79.767661 meters # Minimum depth: 2908.088762 meters looking forward 0.000000 meters along route # Maximum depth: 2908.088762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.088762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596297; longitude = -122.425953; captureRadius = 10; duration = 159; initialDepth = 2855.019285; finalDepth = 2858.088762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.088762 # Seafloor depth: -2908.088762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 79.634642 meters # Minimum depth: 2905.019285 meters looking forward 0.000000 meters along route # Maximum depth: 2905.019285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.019285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596523; longitude = -122.425106; captureRadius = 10; duration = 159; initialDepth = 2850.351134; finalDepth = 2855.019285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.019285 # Seafloor depth: -2905.019285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 78.310652 meters # Minimum depth: 2900.351134 meters looking forward 0.000000 meters along route # Maximum depth: 2900.351134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.351134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596748; longitude = -122.424260; captureRadius = 10; duration = 156; initialDepth = 2852.967791; finalDepth = 2850.351134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.351134 # Seafloor depth: -2900.351134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 81.090847 meters # Minimum depth: 2902.967791 meters looking forward 0.000000 meters along route # Maximum depth: 2902.967791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.967791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596969; longitude = -122.423429; captureRadius = 10; duration = 162; initialDepth = 2849.739471; finalDepth = 2852.967791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.967791 # Seafloor depth: -2902.967791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 76.853658 meters # Minimum depth: 2899.739471 meters looking forward 0.000000 meters along route # Maximum depth: 2899.739471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.739471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597199; longitude = -122.422568; captureRadius = 10; duration = 153; initialDepth = 2846.743267; finalDepth = 2849.739471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.739471 # Seafloor depth: -2899.739471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.236746 meters # Minimum depth: 2896.743267 meters looking forward 0.000000 meters along route # Maximum depth: 2896.743267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.743267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597416; longitude = -122.421752; captureRadius = 10; duration = 168; initialDepth = 2844.580910; finalDepth = 2846.743267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.743267 # Seafloor depth: -2896.743267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.236522 meters # Minimum depth: 2894.580910 meters looking forward 0.000000 meters along route # Maximum depth: 2894.580910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.580910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597654; longitude = -122.420858; captureRadius = 10; duration = 168; initialDepth = 2845.508026; finalDepth = 2844.580910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.58091 # Seafloor depth: -2894.580910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.236297 meters # Minimum depth: 2895.508026 meters looking forward 0.000000 meters along route # Maximum depth: 2895.508026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.508026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597892; longitude = -122.419964; captureRadius = 10; duration = 168; initialDepth = 2840.994270; finalDepth = 2845.508026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.508026 # Seafloor depth: -2895.508026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.876910 meters # Minimum depth: 2890.994270 meters looking forward 0.000000 meters along route # Maximum depth: 2890.994270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.994270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598131; longitude = -122.419070; captureRadius = 10; duration = 169; initialDepth = 2839.519005; finalDepth = 2840.994270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.99427 # Seafloor depth: -2890.994270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 83.595012 meters # Minimum depth: 2889.519005 meters looking forward 0.000000 meters along route # Maximum depth: 2889.519005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.519005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598371; longitude = -122.418169; captureRadius = 10; duration = 167; initialDepth = 2837.032911; finalDepth = 2839.519005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.519005 # Seafloor depth: -2889.519005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.803592 meters # Minimum depth: 2887.032911 meters looking forward 0.000000 meters along route # Maximum depth: 2887.032911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.032911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598607; longitude = -122.417281; captureRadius = 10; duration = 151; initialDepth = 2835.707582; finalDepth = 2837.032911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.032911 # Seafloor depth: -2887.032911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 82.138018 meters # Minimum depth: 2885.707582 meters looking forward 0.000000 meters along route # Maximum depth: 2885.707582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.707582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598821; longitude = -122.416477; captureRadius = 10; duration = 164; initialDepth = 2833.532432; finalDepth = 2835.707582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.707582 # Seafloor depth: -2885.707582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 84.235203 meters # Minimum depth: 2883.532432 meters looking forward 0.000000 meters along route # Maximum depth: 2883.532432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.532432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599054; longitude = -122.415605; captureRadius = 10; duration = 168; initialDepth = 2831.338086; finalDepth = 2833.532432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.532432 # Seafloor depth: -2883.532432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 78.966344 meters # Minimum depth: 2881.338086 meters looking forward 0.000000 meters along route # Maximum depth: 2881.338086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.338086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599292; longitude = -122.414710; captureRadius = 10; duration = 157; initialDepth = 2829.454773; finalDepth = 2831.338086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.338086 # Seafloor depth: -2881.338086 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 66.390174 meters # Minimum depth: 2879.454773 meters looking forward 0.000000 meters along route # Maximum depth: 2879.454773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.454773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599515; longitude = -122.413872; captureRadius = 10; duration = 132; # abortOnTimeout = True; initialDepth = 2829.532968; finalDepth = 2829.454773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.454773 # Seafloor depth: -2879.454773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 83.612224 meters # Minimum depth: 2879.532968 meters looking forward 0.000000 meters along route # Maximum depth: 2879.532968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.532968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600083; longitude = -122.414105; captureRadius = 10; duration = 167; initialDepth = 2834.178101; finalDepth = 2829.532968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.532968 # Seafloor depth: -2879.532968 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 82.063940 meters # Minimum depth: 2884.178101 meters looking forward 0.000000 meters along route # Maximum depth: 2884.178101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.178101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600799; longitude = -122.414398; captureRadius = 10; duration = 164; # abortOnTimeout = True; initialDepth = 2837.589432; finalDepth = 2834.178101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.178101 # Seafloor depth: -2884.178101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.402688 meters # Minimum depth: 2887.589432 meters looking forward 0.000000 meters along route # Maximum depth: 2887.589432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.589432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600567; longitude = -122.415269; captureRadius = 10; duration = 150; initialDepth = 2834.542589; finalDepth = 2837.589432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.589432 # Seafloor depth: -2887.589432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 82.536151 meters # Minimum depth: 2884.542589 meters looking forward 0.000000 meters along route # Maximum depth: 2884.542589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.542589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600354; longitude = -122.416070; captureRadius = 10; duration = 165; initialDepth = 2838.436647; finalDepth = 2834.542589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.542589 # Seafloor depth: -2884.542589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 76.859623 meters # Minimum depth: 2888.436647 meters looking forward 0.000000 meters along route # Maximum depth: 2888.436647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.436647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600120; longitude = -122.416946; captureRadius = 10; duration = 153; initialDepth = 2839.856182; finalDepth = 2838.436647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.436647 # Seafloor depth: -2888.436647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 81.080006 meters # Minimum depth: 2889.856182 meters looking forward 0.000000 meters along route # Maximum depth: 2889.856182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.856182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599903; longitude = -122.417762; captureRadius = 10; duration = 162; initialDepth = 2838.739412; finalDepth = 2839.856182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.856182 # Seafloor depth: -2889.856182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 78.316571 meters # Minimum depth: 2888.739412 meters looking forward 0.000000 meters along route # Maximum depth: 2888.739412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.739412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599674; longitude = -122.418623; captureRadius = 10; duration = 156; initialDepth = 2841.948667; finalDepth = 2838.739412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.739412 # Seafloor depth: -2888.739412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.623846 meters # Minimum depth: 2891.948667 meters looking forward 0.000000 meters along route # Maximum depth: 2891.948667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.948667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599452; longitude = -122.419454; captureRadius = 10; duration = 159; initialDepth = 2847.012336; finalDepth = 2841.948667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.948667 # Seafloor depth: -2891.948667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.773535 meters # Minimum depth: 2897.012336 meters looking forward 0.000000 meters along route # Maximum depth: 2897.012336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.012336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599227; longitude = -122.420299; captureRadius = 10; duration = 159; initialDepth = 2844.558667; finalDepth = 2847.012336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.012336 # Seafloor depth: -2897.012336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 78.167672 meters # Minimum depth: 2894.558667 meters looking forward 0.000000 meters along route # Maximum depth: 2894.558667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.558667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599002; longitude = -122.421146; captureRadius = 10; duration = 156; initialDepth = 2843.093287; finalDepth = 2844.558667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.558667 # Seafloor depth: -2894.558667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 81.230513 meters # Minimum depth: 2893.093287 meters looking forward 0.000000 meters along route # Maximum depth: 2893.093287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.093287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598781; longitude = -122.421976; captureRadius = 10; duration = 162; initialDepth = 2848.304309; finalDepth = 2843.093287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.093287 # Seafloor depth: -2893.093287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 76.711484 meters # Minimum depth: 2898.304309 meters looking forward 0.000000 meters along route # Maximum depth: 2898.304309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.304309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598551; longitude = -122.422838; captureRadius = 10; duration = 153; initialDepth = 2849.428561; finalDepth = 2848.304309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.304309 # Seafloor depth: -2898.304309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 82.687505 meters # Minimum depth: 2899.428561 meters looking forward 0.000000 meters along route # Maximum depth: 2899.428561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.428561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598334; longitude = -122.423653; captureRadius = 10; duration = 165; initialDepth = 2854.053524; finalDepth = 2849.428561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.428561 # Seafloor depth: -2899.428561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.255281 meters # Minimum depth: 2904.053524 meters looking forward 0.000000 meters along route # Maximum depth: 2904.053524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.053524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598100; longitude = -122.424530; captureRadius = 10; duration = 150; initialDepth = 2850.703322; finalDepth = 2854.053524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.053524 # Seafloor depth: -2904.053524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 84.236475 meters # Minimum depth: 2900.703322 meters looking forward 0.000000 meters along route # Maximum depth: 2900.703322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.703322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597887; longitude = -122.425329; captureRadius = 10; duration = 168; initialDepth = 2849.847606; finalDepth = 2850.703322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.703322 # Seafloor depth: -2900.703322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 84.236700 meters # Minimum depth: 2899.847606 meters looking forward 0.000000 meters along route # Maximum depth: 2899.847606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.847606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597649; longitude = -122.426224; captureRadius = 10; duration = 168; initialDepth = 2848.180387; finalDepth = 2849.847606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.847606 # Seafloor depth: -2899.847606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.071936 meters # Minimum depth: 2898.180387 meters looking forward 0.000000 meters along route # Maximum depth: 2898.180387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.180387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597411; longitude = -122.427118; captureRadius = 10; duration = 150; initialDepth = 2852.848741; finalDepth = 2848.180387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.180387 # Seafloor depth: -2898.180387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 82.872482 meters # Minimum depth: 2902.848741 meters looking forward 0.000000 meters along route # Maximum depth: 2902.848741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.848741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597199; longitude = -122.427915; captureRadius = 10; duration = 165; initialDepth = 2855.267994; finalDepth = 2852.848741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.848741 # Seafloor depth: -2902.848741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 76.528920 meters # Minimum depth: 2905.267994 meters looking forward 0.000000 meters along route # Maximum depth: 2905.267994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.267994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596964; longitude = -122.428795; captureRadius = 10; duration = 153; initialDepth = 2854.925824; finalDepth = 2855.267994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.267994 # Seafloor depth: -2905.267994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 81.416288 meters # Minimum depth: 2904.925824 meters looking forward 0.000000 meters along route # Maximum depth: 2904.925824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.925824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596748; longitude = -122.429607; captureRadius = 10; duration = 162; initialDepth = 2857.172047; finalDepth = 2854.925824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.925824 # Seafloor depth: -2904.925824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 77.985919 meters # Minimum depth: 2907.172047 meters looking forward 0.000000 meters along route # Maximum depth: 2907.172047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.172047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596518; longitude = -122.430471; captureRadius = 10; duration = 155; initialDepth = 2857.219636; finalDepth = 2857.172047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.172047 # Seafloor depth: -2907.172047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.960079 meters # Minimum depth: 2907.219636 meters looking forward 0.000000 meters along route # Maximum depth: 2907.219636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.219636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596297; longitude = -122.431299; captureRadius = 10; duration = 159; initialDepth = 2859.870279; finalDepth = 2857.219636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.219636 # Seafloor depth: -2907.219636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.442932 meters # Minimum depth: 2909.870279 meters looking forward 0.000000 meters along route # Maximum depth: 2909.870279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.870279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596071; longitude = -122.432148; captureRadius = 10; duration = 158; initialDepth = 2860.218555; finalDepth = 2859.870279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.870279 # Seafloor depth: -2909.870279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 78.503855 meters # Minimum depth: 2910.218555 meters looking forward 0.000000 meters along route # Maximum depth: 2910.218555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.218555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595846; longitude = -122.432991; captureRadius = 10; duration = 157; initialDepth = 2862.614124; finalDepth = 2860.218555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.218555 # Seafloor depth: -2910.218555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 80.899961 meters # Minimum depth: 2912.614124 meters looking forward 0.000000 meters along route # Maximum depth: 2912.614124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.614124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595624; longitude = -122.433825; captureRadius = 10; duration = 161; initialDepth = 2864.376861; finalDepth = 2862.614124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.614124 # Seafloor depth: -2912.614124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 77.047617 meters # Minimum depth: 2914.376861 meters looking forward 0.000000 meters along route # Maximum depth: 2914.376861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.376861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595396; longitude = -122.434683; captureRadius = 10; duration = 154; initialDepth = 2863.980032; finalDepth = 2864.376861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.376861 # Seafloor depth: -2914.376861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 84.239031 meters # Minimum depth: 2913.980032 meters looking forward 0.000000 meters along route # Maximum depth: 2913.980032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.980032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595178; longitude = -122.435501; captureRadius = 10; duration = 168; initialDepth = 2864.391726; finalDepth = 2863.980032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.980032 # Seafloor depth: -2913.980032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 84.239256 meters # Minimum depth: 2914.391726 meters looking forward 0.000000 meters along route # Maximum depth: 2914.391726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.391726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594940; longitude = -122.436396; captureRadius = 10; duration = 168; initialDepth = 2866.727538; finalDepth = 2864.391726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.391726 # Seafloor depth: -2914.391726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 84.239480 meters # Minimum depth: 2916.727538 meters looking forward 0.000000 meters along route # Maximum depth: 2916.727538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.727538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594701; longitude = -122.437290; captureRadius = 10; duration = 168; initialDepth = 2865.892020; finalDepth = 2866.727538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.727538 # Seafloor depth: -2916.727538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 84.688303 meters # Minimum depth: 2915.892020 meters looking forward 0.000000 meters along route # Maximum depth: 2915.892020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.892020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594463; longitude = -122.438184; captureRadius = 10; duration = 169; initialDepth = 2867.020557; finalDepth = 2865.892020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.89202 # Seafloor depth: -2915.892020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.791333 meters # Minimum depth: 2917.020557 meters looking forward 0.000000 meters along route # Maximum depth: 2917.020557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.020557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594224; longitude = -122.439083; captureRadius = 10; duration = 167; initialDepth = 2868.426093; finalDepth = 2867.020557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.020557 # Seafloor depth: -2917.020557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.615380 meters # Minimum depth: 2918.426093 meters looking forward 0.000000 meters along route # Maximum depth: 2918.426093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.426093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593987; longitude = -122.439972; captureRadius = 10; duration = 151; initialDepth = 2870.142295; finalDepth = 2868.426093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.426093 # Seafloor depth: -2918.426093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 82.335095 meters # Minimum depth: 2920.142295 meters looking forward 0.000000 meters along route # Maximum depth: 2920.142295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.142295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593773; longitude = -122.440775; captureRadius = 10; duration = 164; initialDepth = 2871.338232; finalDepth = 2870.142295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.142295 # Seafloor depth: -2920.142295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 77.072423 meters # Minimum depth: 2921.338232 meters looking forward 0.000000 meters along route # Maximum depth: 2921.338232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.338232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593540; longitude = -122.441649; captureRadius = 10; duration = 154; initialDepth = 2870.960066; finalDepth = 2871.338232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.338232 # Seafloor depth: -2921.338232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 80.878842 meters # Minimum depth: 2920.960066 meters looking forward 0.000000 meters along route # Maximum depth: 2920.960066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.960066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593322; longitude = -122.442467; captureRadius = 10; duration = 161; initialDepth = 2874.013857; finalDepth = 2870.960066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.960066 # Seafloor depth: -2920.960066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 78.529481 meters # Minimum depth: 2924.013857 meters looking forward 0.000000 meters along route # Maximum depth: 2924.013857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.013857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593094; longitude = -122.443326; captureRadius = 10; duration = 157; initialDepth = 2874.293069; finalDepth = 2874.013857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.013857 # Seafloor depth: -2924.013857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.422575 meters # Minimum depth: 2924.293069 meters looking forward 0.000000 meters along route # Maximum depth: 2924.293069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.293069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592872; longitude = -122.444159; captureRadius = 10; duration = 158; initialDepth = 2877.048094; finalDepth = 2874.293069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.293069 # Seafloor depth: -2924.293069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.986553 meters # Minimum depth: 2927.048094 meters looking forward 0.000000 meters along route # Maximum depth: 2927.048094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.048094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592647; longitude = -122.445003; captureRadius = 10; duration = 159; initialDepth = 2878.637233; finalDepth = 2877.048094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.048094 # Seafloor depth: -2927.048094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 77.966293 meters # Minimum depth: 2928.637233 meters looking forward 0.000000 meters along route # Maximum depth: 2928.637233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.637233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592421; longitude = -122.445852; captureRadius = 10; duration = 155; initialDepth = 2877.927423; finalDepth = 2878.637233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.637233 # Seafloor depth: -2928.637233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 84.241842 meters # Minimum depth: 2927.927423 meters looking forward 0.000000 meters along route # Maximum depth: 2927.927423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.927423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592200; longitude = -122.446679; captureRadius = 10; duration = 168; initialDepth = 2880.090050; finalDepth = 2877.927423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.927423 # Seafloor depth: -2927.927423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.793607 meters # Minimum depth: 2930.090050 meters looking forward 0.000000 meters along route # Maximum depth: 2930.090050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2880.090050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591962; longitude = -122.447573; captureRadius = 10; duration = 151; initialDepth = 2882.032288; finalDepth = 2880.090050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2880.09005 # Seafloor depth: -2930.090050 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 68.085099 meters # Minimum depth: 2932.032288 meters looking forward 0.000000 meters along route # Maximum depth: 2932.032288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2882.032288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591748; longitude = -122.448378; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2882.136428; finalDepth = 2882.032288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2882.032288 # Seafloor depth: -2932.032288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 81.918021 meters # Minimum depth: 2932.136428 meters looking forward 0.000000 meters along route # Maximum depth: 2932.136428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2882.136428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592331; longitude = -122.448617; captureRadius = 10; duration = 163; initialDepth = 2880.721069; finalDepth = 2882.136428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2882.136428 # Seafloor depth: -2932.136428 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 72.693229 meters # Minimum depth: 2930.721069 meters looking forward 0.000000 meters along route # Maximum depth: 2930.721069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2880.721069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593032; longitude = -122.448904; captureRadius = 10; duration = 145; # abortOnTimeout = True; initialDepth = 2879.470888; finalDepth = 2880.721069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2880.721069 # Seafloor depth: -2930.721069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 84.240344 meters # Minimum depth: 2929.470888 meters looking forward 0.000000 meters along route # Maximum depth: 2929.470888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.470888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593238; longitude = -122.448132; captureRadius = 10; duration = 168; initialDepth = 2877.158441; finalDepth = 2879.470888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.470888 # Seafloor depth: -2929.470888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 84.240120 meters # Minimum depth: 2927.158441 meters looking forward 0.000000 meters along route # Maximum depth: 2927.158441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.158441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593476; longitude = -122.447238; captureRadius = 10; duration = 168; initialDepth = 2876.829770; finalDepth = 2877.158441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.158441 # Seafloor depth: -2927.158441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 84.708637 meters # Minimum depth: 2926.829770 meters looking forward 0.000000 meters along route # Maximum depth: 2926.829770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2876.829770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593714; longitude = -122.446344; captureRadius = 10; duration = 169; initialDepth = 2875.404442; finalDepth = 2876.829770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2876.82977 # Seafloor depth: -2926.829770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 83.770927 meters # Minimum depth: 2925.404442 meters looking forward 0.000000 meters along route # Maximum depth: 2925.404442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.404442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593953; longitude = -122.445445; captureRadius = 10; duration = 167; initialDepth = 2873.479106; finalDepth = 2875.404442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.404442 # Seafloor depth: -2925.404442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 75.639600 meters # Minimum depth: 2923.479106 meters looking forward 0.000000 meters along route # Maximum depth: 2923.479106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.479106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594190; longitude = -122.444555; captureRadius = 10; duration = 151; initialDepth = 2872.408704; finalDepth = 2873.479106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.479106 # Seafloor depth: -2923.479106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 82.309174 meters # Minimum depth: 2922.408704 meters looking forward 0.000000 meters along route # Maximum depth: 2922.408704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.408704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594404; longitude = -122.443752; captureRadius = 10; duration = 164; initialDepth = 2872.492353; finalDepth = 2872.408704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.408704 # Seafloor depth: -2922.408704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 77.100548 meters # Minimum depth: 2922.492353 meters looking forward 0.000000 meters along route # Maximum depth: 2922.492353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.492353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594637; longitude = -122.442879; captureRadius = 10; duration = 154; initialDepth = 2870.145066; finalDepth = 2872.492353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.492353 # Seafloor depth: -2922.492353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 80.847436 meters # Minimum depth: 2920.145066 meters looking forward 0.000000 meters along route # Maximum depth: 2920.145066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.145066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594855; longitude = -122.442060; captureRadius = 10; duration = 161; initialDepth = 2868.234962; finalDepth = 2870.145066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.145066 # Seafloor depth: -2920.145066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 78.561480 meters # Minimum depth: 2918.234962 meters looking forward 0.000000 meters along route # Maximum depth: 2918.234962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.234962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595083; longitude = -122.441202; captureRadius = 10; duration = 157; initialDepth = 2866.717944; finalDepth = 2868.234962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.234962 # Seafloor depth: -2918.234962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 79.385714 meters # Minimum depth: 2916.717944 meters looking forward 0.000000 meters along route # Maximum depth: 2916.717944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.717944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595306; longitude = -122.440368; captureRadius = 10; duration = 158; initialDepth = 2867.755258; finalDepth = 2866.717944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.717944 # Seafloor depth: -2916.717944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 80.022398 meters # Minimum depth: 2917.755258 meters looking forward 0.000000 meters along route # Maximum depth: 2917.755258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.755258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595530; longitude = -122.439525; captureRadius = 10; duration = 160; initialDepth = 2867.596271; finalDepth = 2867.755258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.755258 # Seafloor depth: -2917.755258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 77.924006 meters # Minimum depth: 2917.596271 meters looking forward 0.000000 meters along route # Maximum depth: 2917.596271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.596271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595756; longitude = -122.438676; captureRadius = 10; duration = 155; initialDepth = 2863.092897; finalDepth = 2867.596271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.596271 # Seafloor depth: -2917.596271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 81.483301 meters # Minimum depth: 2913.092897 meters looking forward 0.000000 meters along route # Maximum depth: 2913.092897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.092897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595977; longitude = -122.437849; captureRadius = 10; duration = 162; initialDepth = 2866.130257; finalDepth = 2863.092897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.092897 # Seafloor depth: -2913.092897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 76.462312 meters # Minimum depth: 2916.130257 meters looking forward 0.000000 meters along route # Maximum depth: 2916.130257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.130257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596207; longitude = -122.436984; captureRadius = 10; duration = 152; initialDepth = 2863.121285; finalDepth = 2866.130257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.130257 # Seafloor depth: -2916.130257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 82.944190 meters # Minimum depth: 2913.121285 meters looking forward 0.000000 meters along route # Maximum depth: 2913.121285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.121285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596423; longitude = -122.436172; captureRadius = 10; duration = 165; initialDepth = 2864.665824; finalDepth = 2863.121285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.121285 # Seafloor depth: -2913.121285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 75.000633 meters # Minimum depth: 2914.665824 meters looking forward 0.000000 meters along route # Maximum depth: 2914.665824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.665824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596658; longitude = -122.435291; captureRadius = 10; duration = 150; initialDepth = 2864.357698; finalDepth = 2864.665824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.665824 # Seafloor depth: -2914.665824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 84.405064 meters # Minimum depth: 2914.357698 meters looking forward 0.000000 meters along route # Maximum depth: 2914.357698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.357698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596870; longitude = -122.434495; captureRadius = 10; duration = 168; initialDepth = 2857.862003; finalDepth = 2864.357698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.357698 # Seafloor depth: -2914.357698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 84.068543 meters # Minimum depth: 2907.862003 meters looking forward 0.000000 meters along route # Maximum depth: 2907.862003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.862003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597108; longitude = -122.433599; captureRadius = 10; duration = 168; initialDepth = 2856.911434; finalDepth = 2857.862003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.862003 # Seafloor depth: -2907.862003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 75.336349 meters # Minimum depth: 2906.911434 meters looking forward 0.000000 meters along route # Maximum depth: 2906.911434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.911434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597346; longitude = -122.432707; captureRadius = 10; duration = 150; initialDepth = 2865.485946; finalDepth = 2856.911434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.911434 # Seafloor depth: -2906.911434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 82.606841 meters # Minimum depth: 2915.485946 meters looking forward 0.000000 meters along route # Maximum depth: 2915.485946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.485946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597559; longitude = -122.431907; captureRadius = 10; duration = 165; initialDepth = 2859.117801; finalDepth = 2865.485946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.485946 # Seafloor depth: -2915.485946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 76.797247 meters # Minimum depth: 2909.117801 meters looking forward 0.000000 meters along route # Maximum depth: 2909.117801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.117801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597793; longitude = -122.431030; captureRadius = 10; duration = 153; initialDepth = 2856.187403; finalDepth = 2859.117801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.117801 # Seafloor depth: -2909.117801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 81.145154 meters # Minimum depth: 2906.187403 meters looking forward 0.000000 meters along route # Maximum depth: 2906.187403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.187403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598010; longitude = -122.430215; captureRadius = 10; duration = 162; initialDepth = 2861.155186; finalDepth = 2856.187403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.187403 # Seafloor depth: -2906.187403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 78.258129 meters # Minimum depth: 2911.155186 meters looking forward 0.000000 meters along route # Maximum depth: 2911.155186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.155186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598239; longitude = -122.429353; captureRadius = 10; duration = 156; initialDepth = 2856.360270; finalDepth = 2861.155186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.155186 # Seafloor depth: -2911.155186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 79.683481 meters # Minimum depth: 2906.360270 meters looking forward 0.000000 meters along route # Maximum depth: 2906.360270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.360270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598461; longitude = -122.428523; captureRadius = 10; duration = 159; initialDepth = 2857.306366; finalDepth = 2856.360270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.36027 # Seafloor depth: -2906.360270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 79.718998 meters # Minimum depth: 2907.306366 meters looking forward 0.000000 meters along route # Maximum depth: 2907.306366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.306366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598686; longitude = -122.427677; captureRadius = 10; duration = 159; initialDepth = 2854.001066; finalDepth = 2857.306366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.306366 # Seafloor depth: -2907.306366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 78.221823 meters # Minimum depth: 2904.001066 meters looking forward 0.000000 meters along route # Maximum depth: 2904.001066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.001066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598911; longitude = -122.426830; captureRadius = 10; duration = 156; initialDepth = 2850.300356; finalDepth = 2854.001066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.001066 # Seafloor depth: -2904.001066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 81.179851 meters # Minimum depth: 2900.300356 meters looking forward 0.000000 meters along route # Maximum depth: 2900.300356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.300356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599133; longitude = -122.426000; captureRadius = 10; duration = 162; initialDepth = 2848.790813; finalDepth = 2850.300356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.300356 # Seafloor depth: -2900.300356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 76.760181 meters # Minimum depth: 2898.790813 meters looking forward 0.000000 meters along route # Maximum depth: 2898.790813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.790813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599362; longitude = -122.425138; captureRadius = 10; duration = 153; initialDepth = 2846.069223; finalDepth = 2848.790813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.790813 # Seafloor depth: -2898.790813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 82.640689 meters # Minimum depth: 2896.069223 meters looking forward 0.000000 meters along route # Maximum depth: 2896.069223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.069223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599579; longitude = -122.424323; captureRadius = 10; duration = 165; initialDepth = 2843.328861; finalDepth = 2846.069223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.069223 # Seafloor depth: -2896.069223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 75.298552 meters # Minimum depth: 2893.328861 meters looking forward 0.000000 meters along route # Maximum depth: 2893.328861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.328861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599813; longitude = -122.423446; captureRadius = 10; duration = 150; initialDepth = 2844.228310; finalDepth = 2843.328861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.328861 # Seafloor depth: -2893.328861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 84.233940 meters # Minimum depth: 2894.228310 meters looking forward 0.000000 meters along route # Maximum depth: 2894.228310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.228310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600026; longitude = -122.422647; captureRadius = 10; duration = 168; initialDepth = 2844.755923; finalDepth = 2844.228310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.22831 # Seafloor depth: -2894.228310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 84.233715 meters # Minimum depth: 2894.755923 meters looking forward 0.000000 meters along route # Maximum depth: 2894.755923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.755923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600264; longitude = -122.421752; captureRadius = 10; duration = 168; initialDepth = 2845.507652; finalDepth = 2844.755923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.755923 # Seafloor depth: -2894.755923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 75.033121 meters # Minimum depth: 2895.507652 meters looking forward 0.000000 meters along route # Maximum depth: 2895.507652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.507652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600502; longitude = -122.420858; captureRadius = 10; duration = 150; initialDepth = 2838.836146; finalDepth = 2845.507652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.507652 # Seafloor depth: -2895.507652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 82.904489 meters # Minimum depth: 2888.836146 meters looking forward 0.000000 meters along route # Maximum depth: 2888.836146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.836146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600714; longitude = -122.420062; captureRadius = 10; duration = 165; initialDepth = 2836.336012; finalDepth = 2838.836146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.836146 # Seafloor depth: -2888.836146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 76.493969 meters # Minimum depth: 2886.336012 meters looking forward 0.000000 meters along route # Maximum depth: 2886.336012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.336012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600949; longitude = -122.419181; captureRadius = 10; duration = 152; initialDepth = 2836.796473; finalDepth = 2836.336012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.336012 # Seafloor depth: -2886.336012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 81.442852 meters # Minimum depth: 2886.796473 meters looking forward 0.000000 meters along route # Maximum depth: 2886.796473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.796473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601165; longitude = -122.418369; captureRadius = 10; duration = 162; initialDepth = 2838.785862; finalDepth = 2836.796473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.796473 # Seafloor depth: -2886.796473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 77.954802 meters # Minimum depth: 2888.785862 meters looking forward 0.000000 meters along route # Maximum depth: 2888.785862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.785862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601395; longitude = -122.417505; captureRadius = 10; duration = 155; initialDepth = 2834.667476; finalDepth = 2838.785862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.785862 # Seafloor depth: -2888.785862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 79.981229 meters # Minimum depth: 2884.667476 meters looking forward 0.000000 meters along route # Maximum depth: 2884.667476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.667476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601616; longitude = -122.416677; captureRadius = 10; duration = 159; initialDepth = 2834.567544; finalDepth = 2834.667476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.667476 # Seafloor depth: -2884.667476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 85.255394 meters # Minimum depth: 2884.567544 meters looking forward 0.000000 meters along route # Maximum depth: 2884.567544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.567544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601842; longitude = -122.415828; captureRadius = 10; duration = 170; initialDepth = 2833.565613; finalDepth = 2834.567544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.567544 # Seafloor depth: -2884.567544 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 71.783297 meters # Minimum depth: 2883.565613 meters looking forward 0.000000 meters along route # Maximum depth: 2883.565613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.565613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602083; longitude = -122.414923; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 2836.745448; finalDepth = 2833.565613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.565613 # Seafloor depth: -2883.565613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 78.323988 meters # Minimum depth: 2886.745448 meters looking forward 0.000000 meters along route # Maximum depth: 2886.745448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.745448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602698; longitude = -122.415175; captureRadius = 10; duration = 156; initialDepth = 2831.333069; finalDepth = 2836.745448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.745448 # Seafloor depth: -2886.745448 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 77.824532 meters # Minimum depth: 2881.333069 meters looking forward 0.000000 meters along route # Maximum depth: 2881.333069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.333069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603368; longitude = -122.415449; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 2827.885626; finalDepth = 2831.333069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.333069 # Seafloor depth: -2881.333069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 84.231841 meters # Minimum depth: 2877.885626 meters looking forward 0.000000 meters along route # Maximum depth: 2877.885626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.885626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603148; longitude = -122.416275; captureRadius = 10; duration = 168; initialDepth = 2830.277885; finalDepth = 2827.885626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.885626 # Seafloor depth: -2877.885626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 75.040173 meters # Minimum depth: 2880.277885 meters looking forward 0.000000 meters along route # Maximum depth: 2880.277885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.277885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602910; longitude = -122.417169; captureRadius = 10; duration = 150; initialDepth = 2831.982096; finalDepth = 2830.277885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.277885 # Seafloor depth: -2880.277885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 82.895134 meters # Minimum depth: 2881.982096 meters looking forward 0.000000 meters along route # Maximum depth: 2881.982096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.982096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602698; longitude = -122.417966; captureRadius = 10; duration = 165; initialDepth = 2833.338058; finalDepth = 2831.982096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.982096 # Seafloor depth: -2881.982096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 76.488845 meters # Minimum depth: 2883.338058 meters looking forward 0.000000 meters along route # Maximum depth: 2883.338058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.338058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602463; longitude = -122.418846; captureRadius = 10; duration = 152; initialDepth = 2833.985890; finalDepth = 2833.338058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.338058 # Seafloor depth: -2883.338058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 81.447252 meters # Minimum depth: 2883.985890 meters looking forward 0.000000 meters along route # Maximum depth: 2883.985890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.985890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602247; longitude = -122.419658; captureRadius = 10; duration = 162; initialDepth = 2836.173134; finalDepth = 2833.985890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.98589 # Seafloor depth: -2883.985890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 77.937531 meters # Minimum depth: 2886.173134 meters looking forward 0.000000 meters along route # Maximum depth: 2886.173134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.173134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602016; longitude = -122.420523; captureRadius = 10; duration = 155; initialDepth = 2839.239347; finalDepth = 2836.173134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.173134 # Seafloor depth: -2886.173134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 79.999355 meters # Minimum depth: 2889.239347 meters looking forward 0.000000 meters along route # Maximum depth: 2889.239347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.239347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601796; longitude = -122.421350; captureRadius = 10; duration = 159; initialDepth = 2839.926001; finalDepth = 2839.239347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.239347 # Seafloor depth: -2889.239347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 79.386232 meters # Minimum depth: 2889.926001 meters looking forward 0.000000 meters along route # Maximum depth: 2889.926001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.926001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601570; longitude = -122.422200; captureRadius = 10; duration = 158; initialDepth = 2841.570199; finalDepth = 2839.926001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.926001 # Seafloor depth: -2889.926001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 78.551443 meters # Minimum depth: 2891.570199 meters looking forward 0.000000 meters along route # Maximum depth: 2891.570199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.570199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601345; longitude = -122.423042; captureRadius = 10; duration = 157; initialDepth = 2842.480493; finalDepth = 2841.570199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.570199 # Seafloor depth: -2891.570199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 80.834948 meters # Minimum depth: 2892.480493 meters looking forward 0.000000 meters along route # Maximum depth: 2892.480493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.480493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601123; longitude = -122.423876; captureRadius = 10; duration = 161; initialDepth = 2843.887367; finalDepth = 2842.480493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.480493 # Seafloor depth: -2892.480493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 77.103517 meters # Minimum depth: 2893.887367 meters looking forward 0.000000 meters along route # Maximum depth: 2893.887367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.887367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600895; longitude = -122.424734; captureRadius = 10; duration = 154; initialDepth = 2845.012106; finalDepth = 2843.887367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.887367 # Seafloor depth: -2893.887367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 84.234171 meters # Minimum depth: 2895.012106 meters looking forward 0.000000 meters along route # Maximum depth: 2895.012106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.012106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600677; longitude = -122.425553; captureRadius = 10; duration = 168; initialDepth = 2847.988439; finalDepth = 2845.012106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.012106 # Seafloor depth: -2895.012106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 84.234396 meters # Minimum depth: 2897.988439 meters looking forward 0.000000 meters along route # Maximum depth: 2897.988439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.988439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600438; longitude = -122.426447; captureRadius = 10; duration = 168; initialDepth = 2850.043181; finalDepth = 2847.988439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.988439 # Seafloor depth: -2897.988439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 84.234620 meters # Minimum depth: 2900.043181 meters looking forward 0.000000 meters along route # Maximum depth: 2900.043181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.043181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600200; longitude = -122.427341; captureRadius = 10; duration = 168; initialDepth = 2851.988048; finalDepth = 2850.043181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.043181 # Seafloor depth: -2900.043181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 84.601677 meters # Minimum depth: 2901.988048 meters looking forward 0.000000 meters along route # Maximum depth: 2901.988048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.988048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599962; longitude = -122.428236; captureRadius = 10; duration = 169; initialDepth = 2850.150815; finalDepth = 2851.988048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.988048 # Seafloor depth: -2901.988048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 83.868238 meters # Minimum depth: 2900.150815 meters looking forward 0.000000 meters along route # Maximum depth: 2900.150815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.150815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599723; longitude = -122.429134; captureRadius = 10; duration = 167; initialDepth = 2854.726105; finalDepth = 2850.150815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.150815 # Seafloor depth: -2900.150815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 75.521049 meters # Minimum depth: 2904.726105 meters looking forward 0.000000 meters along route # Maximum depth: 2904.726105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.726105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599486; longitude = -122.430024; captureRadius = 10; duration = 151; initialDepth = 2857.222414; finalDepth = 2854.726105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.726105 # Seafloor depth: -2904.726105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 82.420312 meters # Minimum depth: 2907.222414 meters looking forward 0.000000 meters along route # Maximum depth: 2907.222414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.222414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599272; longitude = -122.430826; captureRadius = 10; duration = 164; initialDepth = 2855.389131; finalDepth = 2857.222414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.222414 # Seafloor depth: -2907.222414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 76.969779 meters # Minimum depth: 2905.389131 meters looking forward 0.000000 meters along route # Maximum depth: 2905.389131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.389131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599039; longitude = -122.431701; captureRadius = 10; duration = 153; initialDepth = 2856.905582; finalDepth = 2855.389131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.389131 # Seafloor depth: -2905.389131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 80.972372 meters # Minimum depth: 2906.905582 meters looking forward 0.000000 meters along route # Maximum depth: 2906.905582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.905582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598821; longitude = -122.432518; captureRadius = 10; duration = 161; initialDepth = 2859.363647; finalDepth = 2856.905582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.905582 # Seafloor depth: -2906.905582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 78.418524 meters # Minimum depth: 2909.363647 meters looking forward 0.000000 meters along route # Maximum depth: 2909.363647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.363647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598592; longitude = -122.433377; captureRadius = 10; duration = 156; initialDepth = 2860.409567; finalDepth = 2859.363647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.363647 # Seafloor depth: -2909.363647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 79.524417 meters # Minimum depth: 2910.409567 meters looking forward 0.000000 meters along route # Maximum depth: 2910.409567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.409567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598371; longitude = -122.434210; captureRadius = 10; duration = 159; initialDepth = 2862.327504; finalDepth = 2860.409567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.409567 # Seafloor depth: -2910.409567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 79.867283 meters # Minimum depth: 2912.327504 meters looking forward 0.000000 meters along route # Maximum depth: 2912.327504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.327504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598146; longitude = -122.435054; captureRadius = 10; duration = 159; initialDepth = 2862.015245; finalDepth = 2862.327504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.327504 # Seafloor depth: -2912.327504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 78.076449 meters # Minimum depth: 2912.015245 meters looking forward 0.000000 meters along route # Maximum depth: 2912.015245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.015245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597920; longitude = -122.435902; captureRadius = 10; duration = 156; initialDepth = 2861.205311; finalDepth = 2862.015245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.015245 # Seafloor depth: -2912.015245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 81.316057 meters # Minimum depth: 2911.205311 meters looking forward 0.000000 meters along route # Maximum depth: 2911.205311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.205311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597699; longitude = -122.436731; captureRadius = 10; duration = 162; initialDepth = 2865.857471; finalDepth = 2861.205311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.205311 # Seafloor depth: -2911.205311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 76.628465 meters # Minimum depth: 2915.857471 meters looking forward 0.000000 meters along route # Maximum depth: 2915.857471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.857471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597469; longitude = -122.437594; captureRadius = 10; duration = 153; initialDepth = 2866.385299; finalDepth = 2865.857471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.857471 # Seafloor depth: -2915.857471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 82.764845 meters # Minimum depth: 2916.385299 meters looking forward 0.000000 meters along route # Maximum depth: 2916.385299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.385299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597252; longitude = -122.438408; captureRadius = 10; duration = 165; initialDepth = 2865.526497; finalDepth = 2866.385299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.385299 # Seafloor depth: -2916.385299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 75.180467 meters # Minimum depth: 2915.526497 meters looking forward 0.000000 meters along route # Maximum depth: 2915.526497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.526497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597018; longitude = -122.439286; captureRadius = 10; duration = 150; initialDepth = 2864.512109; finalDepth = 2865.526497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.526497 # Seafloor depth: -2915.526497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 84.237822 meters # Minimum depth: 2914.512109 meters looking forward 0.000000 meters along route # Maximum depth: 2914.512109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.512109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596806; longitude = -122.440084; captureRadius = 10; duration = 168; initialDepth = 2866.359707; finalDepth = 2864.512109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.512109 # Seafloor depth: -2914.512109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 84.238048 meters # Minimum depth: 2916.359707 meters looking forward 0.000000 meters along route # Maximum depth: 2916.359707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.359707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596568; longitude = -122.440978; captureRadius = 10; duration = 168; initialDepth = 2867.970762; finalDepth = 2866.359707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.359707 # Seafloor depth: -2916.359707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 75.132698 meters # Minimum depth: 2917.970762 meters looking forward 0.000000 meters along route # Maximum depth: 2917.970762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.970762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596329; longitude = -122.441873; captureRadius = 10; duration = 150; initialDepth = 2869.249385; finalDepth = 2867.970762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.970762 # Seafloor depth: -2917.970762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 82.814248 meters # Minimum depth: 2919.249385 meters looking forward 0.000000 meters along route # Maximum depth: 2919.249385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.249385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596117; longitude = -122.442670; captureRadius = 10; duration = 165; initialDepth = 2869.296065; finalDepth = 2869.249385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.249385 # Seafloor depth: -2919.249385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 76.581477 meters # Minimum depth: 2919.296065 meters looking forward 0.000000 meters along route # Maximum depth: 2919.296065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.296065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595883; longitude = -122.443549; captureRadius = 10; duration = 153; initialDepth = 2870.511205; finalDepth = 2869.296065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.296065 # Seafloor depth: -2919.296065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 81.366259 meters # Minimum depth: 2920.511205 meters looking forward 0.000000 meters along route # Maximum depth: 2920.511205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.511205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595666; longitude = -122.444362; captureRadius = 10; duration = 162; initialDepth = 2871.190160; finalDepth = 2870.511205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.511205 # Seafloor depth: -2920.511205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 78.030271 meters # Minimum depth: 2921.190160 meters looking forward 0.000000 meters along route # Maximum depth: 2921.190160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.190160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595436; longitude = -122.445226; captureRadius = 10; duration = 156; initialDepth = 2873.404418; finalDepth = 2871.190160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.19016 # Seafloor depth: -2921.190160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 79.918256 meters # Minimum depth: 2923.404418 meters looking forward 0.000000 meters along route # Maximum depth: 2923.404418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.404418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595215; longitude = -122.446054; captureRadius = 10; duration = 159; initialDepth = 2874.852759; finalDepth = 2873.404418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.404418 # Seafloor depth: -2923.404418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 79.479080 meters # Minimum depth: 2924.852759 meters looking forward 0.000000 meters along route # Maximum depth: 2924.852759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.852759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594989; longitude = -122.446903; captureRadius = 10; duration = 158; initialDepth = 2874.817447; finalDepth = 2874.852759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.852759 # Seafloor depth: -2924.852759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 78.470237 meters # Minimum depth: 2924.817447 meters looking forward 0.000000 meters along route # Maximum depth: 2924.817447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.817447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594765; longitude = -122.447746; captureRadius = 10; duration = 156; initialDepth = 2877.291451; finalDepth = 2874.817447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.817447 # Seafloor depth: -2924.817447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 80.217903 meters # Minimum depth: 2927.291451 meters looking forward 0.000000 meters along route # Maximum depth: 2927.291451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.291451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594543; longitude = -122.448579; captureRadius = 10; duration = 160; initialDepth = 2877.534058; finalDepth = 2877.291451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.291451 # Seafloor depth: -2927.291451 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 73.483738 meters # Minimum depth: 2927.534058 meters looking forward 0.000000 meters along route # Maximum depth: 2927.534058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.534058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594316; longitude = -122.449431; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 2875.175876; finalDepth = 2877.534058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.534058 # Seafloor depth: -2927.534058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 76.518935 meters # Minimum depth: 2925.175876 meters looking forward 0.000000 meters along route # Maximum depth: 2925.175876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.175876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594945; longitude = -122.449689; captureRadius = 10; duration = 153; initialDepth = 2875.566284; finalDepth = 2875.175876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.175876 # Seafloor depth: -2925.175876 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 129.766824 meters # Minimum depth: 2925.566284 meters looking forward 0.000000 meters along route # Maximum depth: 2925.566284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.566284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595600; longitude = -122.449957; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 2874.477765; finalDepth = 2875.566284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.566284 # Seafloor depth: -2925.566284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.908947 meters # Minimum depth: 2924.477765 meters looking forward 0.000000 meters along route # Maximum depth: 2924.477765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.477765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595967; longitude = -122.448579; captureRadius = 10; duration = 169; initialDepth = 2871.183635; finalDepth = 2874.477765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.477765 # Seafloor depth: -2924.477765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 83.567509 meters # Minimum depth: 2921.183635 meters looking forward 0.000000 meters along route # Maximum depth: 2921.183635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.183635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596207; longitude = -122.447678; captureRadius = 10; duration = 167; initialDepth = 2870.091311; finalDepth = 2871.183635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.183635 # Seafloor depth: -2921.183635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 75.827157 meters # Minimum depth: 2920.091311 meters looking forward 0.000000 meters along route # Maximum depth: 2920.091311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.091311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596443; longitude = -122.446791; captureRadius = 10; duration = 151; initialDepth = 2870.279096; finalDepth = 2870.091311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.091311 # Seafloor depth: -2920.091311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 82.118704 meters # Minimum depth: 2920.279096 meters looking forward 0.000000 meters along route # Maximum depth: 2920.279096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.279096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596658; longitude = -122.445986; captureRadius = 10; duration = 164; initialDepth = 2868.218295; finalDepth = 2870.279096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.279096 # Seafloor depth: -2920.279096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 77.275156 meters # Minimum depth: 2918.218295 meters looking forward 0.000000 meters along route # Maximum depth: 2918.218295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.218295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596890; longitude = -122.445114; captureRadius = 10; duration = 154; initialDepth = 2866.369050; finalDepth = 2868.218295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.218295 # Seafloor depth: -2918.218295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 80.669914 meters # Minimum depth: 2916.369050 meters looking forward 0.000000 meters along route # Maximum depth: 2916.369050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.369050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597108; longitude = -122.444294; captureRadius = 10; duration = 161; initialDepth = 2867.551622; finalDepth = 2866.369050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.36905 # Seafloor depth: -2916.369050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 78.723141 meters # Minimum depth: 2917.551622 meters looking forward 0.000000 meters along route # Maximum depth: 2917.551622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.551622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597337; longitude = -122.443438; captureRadius = 10; duration = 157; initialDepth = 2867.694598; finalDepth = 2867.551622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.551622 # Seafloor depth: -2917.551622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 79.221138 meters # Minimum depth: 2917.694598 meters looking forward 0.000000 meters along route # Maximum depth: 2917.694598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.694598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597559; longitude = -122.442602; captureRadius = 10; duration = 158; initialDepth = 2863.841096; finalDepth = 2867.694598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.694598 # Seafloor depth: -2917.694598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 80.171112 meters # Minimum depth: 2913.841096 meters looking forward 0.000000 meters along route # Maximum depth: 2913.841096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.841096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597783; longitude = -122.441761; captureRadius = 10; duration = 160; initialDepth = 2860.752761; finalDepth = 2863.841096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.841096 # Seafloor depth: -2913.841096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 77.772377 meters # Minimum depth: 2910.752761 meters looking forward 0.000000 meters along route # Maximum depth: 2910.752761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.752761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598010; longitude = -122.440910; captureRadius = 10; duration = 155; initialDepth = 2861.764507; finalDepth = 2860.752761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.752761 # Seafloor depth: -2910.752761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 81.619068 meters # Minimum depth: 2911.764507 meters looking forward 0.000000 meters along route # Maximum depth: 2911.764507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.764507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598230; longitude = -122.440084; captureRadius = 10; duration = 163; initialDepth = 2860.798040; finalDepth = 2861.764507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.764507 # Seafloor depth: -2911.764507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 76.323630 meters # Minimum depth: 2910.798040 meters looking forward 0.000000 meters along route # Maximum depth: 2910.798040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.798040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598461; longitude = -122.439218; captureRadius = 10; duration = 152; initialDepth = 2857.998166; finalDepth = 2860.798040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.79804 # Seafloor depth: -2910.798040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.235783 meters # Minimum depth: 2907.998166 meters looking forward 0.000000 meters along route # Maximum depth: 2907.998166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.998166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598677; longitude = -122.438408; captureRadius = 10; duration = 168; initialDepth = 2860.091931; finalDepth = 2857.998166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.998166 # Seafloor depth: -2907.998166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.235558 meters # Minimum depth: 2910.091931 meters looking forward 0.000000 meters along route # Maximum depth: 2910.091931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.091931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598915; longitude = -122.437513; captureRadius = 10; duration = 168; initialDepth = 2857.026339; finalDepth = 2860.091931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.091931 # Seafloor depth: -2910.091931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.235333 meters # Minimum depth: 2907.026339 meters looking forward 0.000000 meters along route # Maximum depth: 2907.026339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.026339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599153; longitude = -122.436619; captureRadius = 10; duration = 168; initialDepth = 2856.082916; finalDepth = 2857.026339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.026339 # Seafloor depth: -2907.026339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 85.383686 meters # Minimum depth: 2906.082916 meters looking forward 0.000000 meters along route # Maximum depth: 2906.082916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.082916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599391; longitude = -122.435725; captureRadius = 10; duration = 170; initialDepth = 2855.316137; finalDepth = 2856.082916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.082916 # Seafloor depth: -2906.082916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 83.086306 meters # Minimum depth: 2905.316137 meters looking forward 0.000000 meters along route # Maximum depth: 2905.316137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.316137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599633; longitude = -122.434818; captureRadius = 10; duration = 166; initialDepth = 2853.235758; finalDepth = 2855.316137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.316137 # Seafloor depth: -2905.316137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 76.302242 meters # Minimum depth: 2903.235758 meters looking forward 0.000000 meters along route # Maximum depth: 2903.235758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.235758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599868; longitude = -122.433936; captureRadius = 10; duration = 152; initialDepth = 2851.777874; finalDepth = 2853.235758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.235758 # Seafloor depth: -2903.235758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 81.637559 meters # Minimum depth: 2901.777874 meters looking forward 0.000000 meters along route # Maximum depth: 2901.777874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.777874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600083; longitude = -122.433126; captureRadius = 10; duration = 163; initialDepth = 2850.512126; finalDepth = 2851.777874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.777874 # Seafloor depth: -2901.777874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 77.750184 meters # Minimum depth: 2900.512126 meters looking forward 0.000000 meters along route # Maximum depth: 2900.512126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.512126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600314; longitude = -122.432260; captureRadius = 10; duration = 155; initialDepth = 2850.336181; finalDepth = 2850.512126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.512126 # Seafloor depth: -2900.512126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 80.188827 meters # Minimum depth: 2900.336181 meters looking forward 0.000000 meters along route # Maximum depth: 2900.336181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.336181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600534; longitude = -122.431434; captureRadius = 10; duration = 160; initialDepth = 2851.369425; finalDepth = 2850.336181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.336181 # Seafloor depth: -2900.336181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 79.198111 meters # Minimum depth: 2901.369425 meters looking forward 0.000000 meters along route # Maximum depth: 2901.369425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.369425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600761; longitude = -122.430583; captureRadius = 10; duration = 158; initialDepth = 2848.686067; finalDepth = 2851.369425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.369425 # Seafloor depth: -2901.369425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 78.740110 meters # Minimum depth: 2898.686067 meters looking forward 0.000000 meters along route # Maximum depth: 2898.686067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.686067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600985; longitude = -122.429742; captureRadius = 10; duration = 157; initialDepth = 2845.504984; finalDepth = 2848.686067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.686067 # Seafloor depth: -2898.686067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 80.646024 meters # Minimum depth: 2895.504984 meters looking forward 0.000000 meters along route # Maximum depth: 2895.504984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.504984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601207; longitude = -122.428906; captureRadius = 10; duration = 161; initialDepth = 2845.492902; finalDepth = 2845.504984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.504984 # Seafloor depth: -2895.504984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 77.291407 meters # Minimum depth: 2895.492902 meters looking forward 0.000000 meters along route # Maximum depth: 2895.492902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.492902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601435; longitude = -122.428050; captureRadius = 10; duration = 154; initialDepth = 2847.808813; finalDepth = 2845.492902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.492902 # Seafloor depth: -2895.492902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.232973 meters # Minimum depth: 2897.808813 meters looking forward 0.000000 meters along route # Maximum depth: 2897.808813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.808813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601654; longitude = -122.427230; captureRadius = 10; duration = 168; initialDepth = 2846.351104; finalDepth = 2847.808813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.808813 # Seafloor depth: -2897.808813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.232749 meters # Minimum depth: 2896.351104 meters looking forward 0.000000 meters along route # Maximum depth: 2896.351104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.351104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601892; longitude = -122.426335; captureRadius = 10; duration = 168; initialDepth = 2841.411604; finalDepth = 2846.351104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.351104 # Seafloor depth: -2896.351104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.232524 meters # Minimum depth: 2891.411604 meters looking forward 0.000000 meters along route # Maximum depth: 2891.411604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.411604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602130; longitude = -122.425441; captureRadius = 10; duration = 168; initialDepth = 2837.511094; finalDepth = 2841.411604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.411604 # Seafloor depth: -2891.411604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.410531 meters # Minimum depth: 2887.511094 meters looking forward 0.000000 meters along route # Maximum depth: 2887.511094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.511094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602369; longitude = -122.424547; captureRadius = 10; duration = 168; initialDepth = 2838.239293; finalDepth = 2837.511094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.511094 # Seafloor depth: -2887.511094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.053844 meters # Minimum depth: 2888.239293 meters looking forward 0.000000 meters along route # Maximum depth: 2888.239293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.239293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602607; longitude = -122.423651; captureRadius = 10; duration = 168; initialDepth = 2834.608461; finalDepth = 2838.239293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.239293 # Seafloor depth: -2888.239293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 75.329394 meters # Minimum depth: 2884.608461 meters looking forward 0.000000 meters along route # Maximum depth: 2884.608461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.608461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602845; longitude = -122.422758; captureRadius = 10; duration = 150; initialDepth = 2836.019006; finalDepth = 2834.608461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.608461 # Seafloor depth: -2884.608461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 82.605141 meters # Minimum depth: 2886.019006 meters looking forward 0.000000 meters along route # Maximum depth: 2886.019006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.019006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603058; longitude = -122.421959; captureRadius = 10; duration = 165; initialDepth = 2834.720522; finalDepth = 2836.019006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.019006 # Seafloor depth: -2886.019006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 76.777293 meters # Minimum depth: 2884.720522 meters looking forward 0.000000 meters along route # Maximum depth: 2884.720522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.720522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603292; longitude = -122.421082; captureRadius = 10; duration = 153; initialDepth = 2829.722574; finalDepth = 2834.720522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.720522 # Seafloor depth: -2884.720522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 81.156453 meters # Minimum depth: 2879.722574 meters looking forward 0.000000 meters along route # Maximum depth: 2879.722574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.722574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603509; longitude = -122.420267; captureRadius = 10; duration = 162; initialDepth = 2827.946345; finalDepth = 2829.722574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.722574 # Seafloor depth: -2879.722574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 78.225178 meters # Minimum depth: 2877.946345 meters looking forward 0.000000 meters along route # Maximum depth: 2877.946345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.946345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603738; longitude = -122.419405; captureRadius = 10; duration = 156; initialDepth = 2830.951414; finalDepth = 2827.946345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.946345 # Seafloor depth: -2877.946345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 79.707779 meters # Minimum depth: 2880.951414 meters looking forward 0.000000 meters along route # Maximum depth: 2880.951414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.951414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603960; longitude = -122.418575; captureRadius = 10; duration = 159; initialDepth = 2827.815549; finalDepth = 2830.951414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.951414 # Seafloor depth: -2880.951414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.230587 meters # Minimum depth: 2877.815549 meters looking forward 0.000000 meters along route # Maximum depth: 2877.815549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.815549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604185; longitude = -122.417728; captureRadius = 10; duration = 168; initialDepth = 2825.652691; finalDepth = 2827.815549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.815549 # Seafloor depth: -2877.815549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 80.922022 meters # Minimum depth: 2875.652691 meters looking forward 0.000000 meters along route # Maximum depth: 2875.652691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.652691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604423; longitude = -122.416834; captureRadius = 10; duration = 161; initialDepth = 2826.745850; finalDepth = 2825.652691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.652691 # Seafloor depth: -2875.652691 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 66.539454 meters # Minimum depth: 2876.745850 meters looking forward 0.000000 meters along route # Maximum depth: 2876.745850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.745850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604652; longitude = -122.415975; captureRadius = 10; duration = 133; # abortOnTimeout = True; initialDepth = 2823.757409; finalDepth = 2826.745850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.74585 # Seafloor depth: -2876.745850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 83.462045 meters # Minimum depth: 2873.757409 meters looking forward 0.000000 meters along route # Maximum depth: 2873.757409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.757409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605222; longitude = -122.416208; captureRadius = 10; duration = 166; initialDepth = 2823.773315; finalDepth = 2823.757409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.757409 # Seafloor depth: -2873.757409 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 126.135431 meters # Minimum depth: 2873.773315 meters looking forward 0.000000 meters along route # Maximum depth: 2873.773315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.773315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605936; longitude = -122.416501; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 2825.901617; finalDepth = 2823.773315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.773315 # Seafloor depth: -2873.773315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 84.230361 meters # Minimum depth: 2875.901617 meters looking forward 0.000000 meters along route # Maximum depth: 2875.901617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.901617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605579; longitude = -122.417840; captureRadius = 10; duration = 168; initialDepth = 2827.716362; finalDepth = 2825.901617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.901617 # Seafloor depth: -2875.901617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.230587 meters # Minimum depth: 2877.716362 meters looking forward 0.000000 meters along route # Maximum depth: 2877.716362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.716362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605341; longitude = -122.418734; captureRadius = 10; duration = 168; initialDepth = 2828.846966; finalDepth = 2827.716362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.716362 # Seafloor depth: -2877.716362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 85.493126 meters # Minimum depth: 2878.846966 meters looking forward 0.000000 meters along route # Maximum depth: 2878.846966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.846966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605103; longitude = -122.419629; captureRadius = 10; duration = 170; initialDepth = 2829.663303; finalDepth = 2828.846966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.846966 # Seafloor depth: -2878.846966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 82.968720 meters # Minimum depth: 2879.663303 meters looking forward 0.000000 meters along route # Maximum depth: 2879.663303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.663303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604861; longitude = -122.420536; captureRadius = 10; duration = 165; initialDepth = 2829.028124; finalDepth = 2829.663303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.663303 # Seafloor depth: -2879.663303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 76.395332 meters # Minimum depth: 2879.028124 meters looking forward 0.000000 meters along route # Maximum depth: 2879.028124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.028124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604626; longitude = -122.421417; captureRadius = 10; duration = 152; initialDepth = 2833.183585; finalDepth = 2829.028124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.028124 # Seafloor depth: -2879.028124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 81.538465 meters # Minimum depth: 2883.183585 meters looking forward 0.000000 meters along route # Maximum depth: 2883.183585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.183585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604410; longitude = -122.422228; captureRadius = 10; duration = 163; initialDepth = 2831.142225; finalDepth = 2833.183585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.183585 # Seafloor depth: -2883.183585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 77.826391 meters # Minimum depth: 2881.142225 meters looking forward 0.000000 meters along route # Maximum depth: 2881.142225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.142225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604180; longitude = -122.423094; captureRadius = 10; duration = 155; initialDepth = 2834.263287; finalDepth = 2831.142225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.142225 # Seafloor depth: -2881.142225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 80.108195 meters # Minimum depth: 2884.263287 meters looking forward 0.000000 meters along route # Maximum depth: 2884.263287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.263287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603960; longitude = -122.423920; captureRadius = 10; duration = 160; initialDepth = 2835.805026; finalDepth = 2834.263287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.263287 # Seafloor depth: -2884.263287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 79.257465 meters # Minimum depth: 2885.805026 meters looking forward 0.000000 meters along route # Maximum depth: 2885.805026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.805026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603733; longitude = -122.424770; captureRadius = 10; duration = 158; initialDepth = 2835.241607; finalDepth = 2835.805026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.805026 # Seafloor depth: -2885.805026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 78.677911 meters # Minimum depth: 2885.241607 meters looking forward 0.000000 meters along route # Maximum depth: 2885.241607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.241607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603509; longitude = -122.425612; captureRadius = 10; duration = 157; initialDepth = 2838.563799; finalDepth = 2835.241607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.241607 # Seafloor depth: -2885.241607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 80.688554 meters # Minimum depth: 2888.563799 meters looking forward 0.000000 meters along route # Maximum depth: 2888.563799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.563799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603286; longitude = -122.426447; captureRadius = 10; duration = 161; initialDepth = 2837.772237; finalDepth = 2838.563799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.563799 # Seafloor depth: -2888.563799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 77.247613 meters # Minimum depth: 2887.772237 meters looking forward 0.000000 meters along route # Maximum depth: 2887.772237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.772237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603058; longitude = -122.427304; captureRadius = 10; duration = 154; initialDepth = 2836.397402; finalDepth = 2837.772237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.772237 # Seafloor depth: -2887.772237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.232945 meters # Minimum depth: 2886.397402 meters looking forward 0.000000 meters along route # Maximum depth: 2886.397402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.397402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602840; longitude = -122.428124; captureRadius = 10; duration = 168; initialDepth = 2839.243230; finalDepth = 2836.397402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.397402 # Seafloor depth: -2886.397402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.233169 meters # Minimum depth: 2889.243230 meters looking forward 0.000000 meters along route # Maximum depth: 2889.243230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.243230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602601; longitude = -122.429018; captureRadius = 10; duration = 168; initialDepth = 2834.696344; finalDepth = 2839.243230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.24323 # Seafloor depth: -2889.243230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.233395 meters # Minimum depth: 2884.696344 meters looking forward 0.000000 meters along route # Maximum depth: 2884.696344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.696344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602363; longitude = -122.429912; captureRadius = 10; duration = 168; initialDepth = 2843.519244; finalDepth = 2834.696344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.696344 # Seafloor depth: -2884.696344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.409450 meters # Minimum depth: 2893.519244 meters looking forward 0.000000 meters along route # Maximum depth: 2893.519244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.519244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602125; longitude = -122.430807; captureRadius = 10; duration = 168; initialDepth = 2847.133695; finalDepth = 2843.519244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.519244 # Seafloor depth: -2893.519244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.058013 meters # Minimum depth: 2897.133695 meters looking forward 0.000000 meters along route # Maximum depth: 2897.133695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.133695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601886; longitude = -122.431703; captureRadius = 10; duration = 168; initialDepth = 2849.793282; finalDepth = 2847.133695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.133695 # Seafloor depth: -2897.133695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 75.311348 meters # Minimum depth: 2899.793282 meters looking forward 0.000000 meters along route # Maximum depth: 2899.793282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.793282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601648; longitude = -122.432595; captureRadius = 10; duration = 150; initialDepth = 2854.513758; finalDepth = 2849.793282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.793282 # Seafloor depth: -2899.793282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 82.627715 meters # Minimum depth: 2904.513758 meters looking forward 0.000000 meters along route # Maximum depth: 2904.513758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.513758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601435; longitude = -122.433395; captureRadius = 10; duration = 165; initialDepth = 2851.007269; finalDepth = 2854.513758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.513758 # Seafloor depth: -2904.513758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 76.742450 meters # Minimum depth: 2901.007269 meters looking forward 0.000000 meters along route # Maximum depth: 2901.007269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.007269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601202; longitude = -122.434272; captureRadius = 10; duration = 153; initialDepth = 2853.066077; finalDepth = 2851.007269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.007269 # Seafloor depth: -2901.007269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 81.197404 meters # Minimum depth: 2903.066077 meters looking forward 0.000000 meters along route # Maximum depth: 2903.066077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.066077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600985; longitude = -122.435086; captureRadius = 10; duration = 162; initialDepth = 2854.987704; finalDepth = 2853.066077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.066077 # Seafloor depth: -2903.066077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 78.173566 meters # Minimum depth: 2904.987704 meters looking forward 0.000000 meters along route # Maximum depth: 2904.987704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.987704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600755; longitude = -122.435948; captureRadius = 10; duration = 156; initialDepth = 2851.142671; finalDepth = 2854.987704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.987704 # Seafloor depth: -2904.987704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 79.767077 meters # Minimum depth: 2901.142671 meters looking forward 0.000000 meters along route # Maximum depth: 2901.142671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.142671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600534; longitude = -122.436778; captureRadius = 10; duration = 159; initialDepth = 2857.670158; finalDepth = 2851.142671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.142671 # Seafloor depth: -2901.142671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 79.604697 meters # Minimum depth: 2907.670158 meters looking forward 0.000000 meters along route # Maximum depth: 2907.670158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.670158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600308; longitude = -122.437625; captureRadius = 10; duration = 159; initialDepth = 2855.411854; finalDepth = 2857.670158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.670158 # Seafloor depth: -2907.670158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 78.336738 meters # Minimum depth: 2905.411854 meters looking forward 0.000000 meters along route # Maximum depth: 2905.411854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.411854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600083; longitude = -122.438470; captureRadius = 10; duration = 156; initialDepth = 2859.800119; finalDepth = 2855.411854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.411854 # Seafloor depth: -2905.411854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 81.035842 meters # Minimum depth: 2909.800119 meters looking forward 0.000000 meters along route # Maximum depth: 2909.800119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.800119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599862; longitude = -122.439302; captureRadius = 10; duration = 162; initialDepth = 2862.058079; finalDepth = 2859.800119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.800119 # Seafloor depth: -2909.800119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 76.906382 meters # Minimum depth: 2912.058079 meters looking forward 0.000000 meters along route # Maximum depth: 2912.058079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.058079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599633; longitude = -122.440162; captureRadius = 10; duration = 153; initialDepth = 2862.627935; finalDepth = 2862.058079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.058079 # Seafloor depth: -2912.058079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.236177 meters # Minimum depth: 2912.627935 meters looking forward 0.000000 meters along route # Maximum depth: 2912.627935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.627935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599415; longitude = -122.440978; captureRadius = 10; duration = 168; initialDepth = 2864.626361; finalDepth = 2862.627935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.627935 # Seafloor depth: -2912.627935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.236401 meters # Minimum depth: 2914.626361 meters looking forward 0.000000 meters along route # Maximum depth: 2914.626361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.626361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599177; longitude = -122.441873; captureRadius = 10; duration = 168; initialDepth = 2862.728550; finalDepth = 2864.626361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.626361 # Seafloor depth: -2914.626361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.236626 meters # Minimum depth: 2912.728550 meters looking forward 0.000000 meters along route # Maximum depth: 2912.728550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.728550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598939; longitude = -122.442767; captureRadius = 10; duration = 168; initialDepth = 2864.500733; finalDepth = 2862.728550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.72855 # Seafloor depth: -2912.728550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.756887 meters # Minimum depth: 2914.500733 meters looking forward 0.000000 meters along route # Maximum depth: 2914.500733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.500733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598700; longitude = -122.443661; captureRadius = 10; duration = 169; initialDepth = 2871.129959; finalDepth = 2864.500733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.500733 # Seafloor depth: -2914.500733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 83.717040 meters # Minimum depth: 2921.129959 meters looking forward 0.000000 meters along route # Maximum depth: 2921.129959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.129959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598461; longitude = -122.444561; captureRadius = 10; duration = 167; initialDepth = 2871.178705; finalDepth = 2871.129959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.129959 # Seafloor depth: -2921.129959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 75.658438 meters # Minimum depth: 2921.178705 meters looking forward 0.000000 meters along route # Maximum depth: 2921.178705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.178705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598224; longitude = -122.445450; captureRadius = 10; duration = 151; initialDepth = 2872.395406; finalDepth = 2871.178705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.178705 # Seafloor depth: -2921.178705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 82.286686 meters # Minimum depth: 2922.395406 meters looking forward 0.000000 meters along route # Maximum depth: 2922.395406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.395406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598010; longitude = -122.446253; captureRadius = 10; duration = 164; initialDepth = 2874.314411; finalDepth = 2872.395406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.395406 # Seafloor depth: -2922.395406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 77.089597 meters # Minimum depth: 2924.314411 meters looking forward 0.000000 meters along route # Maximum depth: 2924.314411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.314411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597777; longitude = -122.447126; captureRadius = 10; duration = 154; initialDepth = 2874.833662; finalDepth = 2874.314411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.314411 # Seafloor depth: -2924.314411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 80.856318 meters # Minimum depth: 2924.833662 meters looking forward 0.000000 meters along route # Maximum depth: 2924.833662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.833662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597559; longitude = -122.447945; captureRadius = 10; duration = 161; initialDepth = 2870.848726; finalDepth = 2874.833662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.833662 # Seafloor depth: -2924.833662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 78.520770 meters # Minimum depth: 2920.848726 meters looking forward 0.000000 meters along route # Maximum depth: 2920.848726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.848726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597331; longitude = -122.448803; captureRadius = 10; duration = 157; initialDepth = 2872.668066; finalDepth = 2870.848726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.848726 # Seafloor depth: -2920.848726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 79.735862 meters # Minimum depth: 2922.668066 meters looking forward 0.000000 meters along route # Maximum depth: 2922.668066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.668066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597108; longitude = -122.449637; captureRadius = 10; duration = 159; initialDepth = 2875.741028; finalDepth = 2872.668066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.668066 # Seafloor depth: -2922.668066 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 68.480836 meters # Minimum depth: 2925.741028 meters looking forward 0.000000 meters along route # Maximum depth: 2925.741028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.741028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596883; longitude = -122.450483; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2878.418283; finalDepth = 2875.741028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.741028 # Seafloor depth: -2925.741028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 81.549468 meters # Minimum depth: 2928.418283 meters looking forward 0.000000 meters along route # Maximum depth: 2928.418283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.418283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597469; longitude = -122.450724; captureRadius = 10; duration = 163; initialDepth = 2872.121399; finalDepth = 2878.418283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.418283 # Seafloor depth: -2928.418283 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 60.482880 meters # Minimum depth: 2922.121399 meters looking forward 0.000000 meters along route # Maximum depth: 2922.121399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.121399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598167; longitude = -122.451010; captureRadius = 10; duration = 120; # abortOnTimeout = True; initialDepth = 2875.216726; finalDepth = 2872.121399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.121399 # Seafloor depth: -2922.121399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.238284 meters # Minimum depth: 2925.216726 meters looking forward 0.000000 meters along route # Maximum depth: 2925.216726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.216726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598338; longitude = -122.450368; captureRadius = 10; duration = 150; initialDepth = 2870.708052; finalDepth = 2875.216726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.216726 # Seafloor depth: -2925.216726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 82.705298 meters # Minimum depth: 2920.708052 meters looking forward 0.000000 meters along route # Maximum depth: 2920.708052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.708052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598551; longitude = -122.449569; captureRadius = 10; duration = 165; initialDepth = 2873.847950; finalDepth = 2870.708052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.708052 # Seafloor depth: -2920.708052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 76.673349 meters # Minimum depth: 2923.847950 meters looking forward 0.000000 meters along route # Maximum depth: 2923.847950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.847950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598785; longitude = -122.448691; captureRadius = 10; duration = 153; initialDepth = 2870.312703; finalDepth = 2873.847950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.84795 # Seafloor depth: -2923.847950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 81.269441 meters # Minimum depth: 2920.312703 meters looking forward 0.000000 meters along route # Maximum depth: 2920.312703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.312703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599002; longitude = -122.447877; captureRadius = 10; duration = 162; initialDepth = 2870.022466; finalDepth = 2870.312703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.312703 # Seafloor depth: -2920.312703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 78.108400 meters # Minimum depth: 2920.022466 meters looking forward 0.000000 meters along route # Maximum depth: 2920.022466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.022466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599231; longitude = -122.447015; captureRadius = 10; duration = 156; initialDepth = 2866.137605; finalDepth = 2870.022466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.022466 # Seafloor depth: -2920.022466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 79.833600 meters # Minimum depth: 2916.137605 meters looking forward 0.000000 meters along route # Maximum depth: 2916.137605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.137605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599452; longitude = -122.446185; captureRadius = 10; duration = 159; initialDepth = 2866.725668; finalDepth = 2866.137605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.137605 # Seafloor depth: -2916.137605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 79.543436 meters # Minimum depth: 2916.725668 meters looking forward 0.000000 meters along route # Maximum depth: 2916.725668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.725668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599678; longitude = -122.445338; captureRadius = 10; duration = 159; initialDepth = 2860.341473; finalDepth = 2866.725668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.725668 # Seafloor depth: -2916.725668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 78.397773 meters # Minimum depth: 2910.341473 meters looking forward 0.000000 meters along route # Maximum depth: 2910.341473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.341473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599903; longitude = -122.444493; captureRadius = 10; duration = 156; initialDepth = 2859.311804; finalDepth = 2860.341473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.341473 # Seafloor depth: -2910.341473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 80.978458 meters # Minimum depth: 2909.311804 meters looking forward 0.000000 meters along route # Maximum depth: 2909.311804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.311804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600125; longitude = -122.443661; captureRadius = 10; duration = 161; initialDepth = 2858.059013; finalDepth = 2859.311804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.311804 # Seafloor depth: -2909.311804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 76.961960 meters # Minimum depth: 2908.059013 meters looking forward 0.000000 meters along route # Maximum depth: 2908.059013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.059013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600354; longitude = -122.442802; captureRadius = 10; duration = 153; initialDepth = 2861.693516; finalDepth = 2858.059013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.059013 # Seafloor depth: -2908.059013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.234567 meters # Minimum depth: 2911.693516 meters looking forward 0.000000 meters along route # Maximum depth: 2911.693516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.693516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600571; longitude = -122.441984; captureRadius = 10; duration = 168; initialDepth = 2856.599639; finalDepth = 2861.693516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.693516 # Seafloor depth: -2911.693516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.234341 meters # Minimum depth: 2906.599639 meters looking forward 0.000000 meters along route # Maximum depth: 2906.599639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.599639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600810; longitude = -122.441090; captureRadius = 10; duration = 168; initialDepth = 2853.831576; finalDepth = 2856.599639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.599639 # Seafloor depth: -2906.599639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.234117 meters # Minimum depth: 2903.831576 meters looking forward 0.000000 meters along route # Maximum depth: 2903.831576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.831576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601048; longitude = -122.440196; captureRadius = 10; duration = 168; initialDepth = 2854.150329; finalDepth = 2853.831576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.831576 # Seafloor depth: -2903.831576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.709448 meters # Minimum depth: 2904.150329 meters looking forward 0.000000 meters along route # Maximum depth: 2904.150329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.150329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601286; longitude = -122.439302; captureRadius = 10; duration = 169; initialDepth = 2850.357968; finalDepth = 2854.150329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.150329 # Seafloor depth: -2904.150329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.758111 meters # Minimum depth: 2900.357968 meters looking forward 0.000000 meters along route # Maximum depth: 2900.357968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.357968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601526; longitude = -122.438402; captureRadius = 10; duration = 167; initialDepth = 2854.733641; finalDepth = 2850.357968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.357968 # Seafloor depth: -2900.357968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 75.615222 meters # Minimum depth: 2904.733641 meters looking forward 0.000000 meters along route # Maximum depth: 2904.733641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.733641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601762; longitude = -122.437513; captureRadius = 10; duration = 151; initialDepth = 2847.663295; finalDepth = 2854.733641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.733641 # Seafloor depth: -2904.733641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 82.322297 meters # Minimum depth: 2897.663295 meters looking forward 0.000000 meters along route # Maximum depth: 2897.663295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.663295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601976; longitude = -122.436711; captureRadius = 10; duration = 164; initialDepth = 2848.880095; finalDepth = 2847.663295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.663295 # Seafloor depth: -2897.663295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.050231 meters # Minimum depth: 2898.880095 meters looking forward 0.000000 meters along route # Maximum depth: 2898.880095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.880095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602209; longitude = -122.435837; captureRadius = 10; duration = 154; initialDepth = 2845.507328; finalDepth = 2848.880095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.880095 # Seafloor depth: -2898.880095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 80.886499 meters # Minimum depth: 2895.507328 meters looking forward 0.000000 meters along route # Maximum depth: 2895.507328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.507328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602427; longitude = -122.435019; captureRadius = 10; duration = 161; initialDepth = 2842.834954; finalDepth = 2845.507328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.507328 # Seafloor depth: -2895.507328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 78.485224 meters # Minimum depth: 2892.834954 meters looking forward 0.000000 meters along route # Maximum depth: 2892.834954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.834954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602656; longitude = -122.434160; captureRadius = 10; duration = 156; initialDepth = 2846.852243; finalDepth = 2842.834954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.834954 # Seafloor depth: -2892.834954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 79.450715 meters # Minimum depth: 2896.852243 meters looking forward 0.000000 meters along route # Maximum depth: 2896.852243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.852243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602878; longitude = -122.433327; captureRadius = 10; duration = 158; initialDepth = 2842.724225; finalDepth = 2846.852243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.852243 # Seafloor depth: -2896.852243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 79.920204 meters # Minimum depth: 2892.724225 meters looking forward 0.000000 meters along route # Maximum depth: 2892.724225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.724225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603102; longitude = -122.432483; captureRadius = 10; duration = 159; initialDepth = 2840.964908; finalDepth = 2842.724225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.724225 # Seafloor depth: -2892.724225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 78.014945 meters # Minimum depth: 2890.964908 meters looking forward 0.000000 meters along route # Maximum depth: 2890.964908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.964908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603329; longitude = -122.431635; captureRadius = 10; duration = 156; initialDepth = 2840.378940; finalDepth = 2840.964908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.964908 # Seafloor depth: -2890.964908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 81.355169 meters # Minimum depth: 2890.378940 meters looking forward 0.000000 meters along route # Maximum depth: 2890.378940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.378940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603549; longitude = -122.430807; captureRadius = 10; duration = 162; initialDepth = 2837.137841; finalDepth = 2840.378940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.37894 # Seafloor depth: -2890.378940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 76.579189 meters # Minimum depth: 2887.137841 meters looking forward 0.000000 meters along route # Maximum depth: 2887.137841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.137841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603779; longitude = -122.429943; captureRadius = 10; duration = 153; initialDepth = 2838.336532; finalDepth = 2837.137841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.137841 # Seafloor depth: -2887.137841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.231335 meters # Minimum depth: 2888.336532 meters looking forward 0.000000 meters along route # Maximum depth: 2888.336532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.336532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603996; longitude = -122.429130; captureRadius = 10; duration = 168; initialDepth = 2841.546158; finalDepth = 2838.336532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.336532 # Seafloor depth: -2888.336532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.231110 meters # Minimum depth: 2891.546158 meters looking forward 0.000000 meters along route # Maximum depth: 2891.546158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.546158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604234; longitude = -122.428236; captureRadius = 10; duration = 168; initialDepth = 2835.625118; finalDepth = 2841.546158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.546158 # Seafloor depth: -2891.546158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.230886 meters # Minimum depth: 2885.625118 meters looking forward 0.000000 meters along route # Maximum depth: 2885.625118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.625118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604472; longitude = -122.427341; captureRadius = 10; duration = 168; initialDepth = 2833.365407; finalDepth = 2835.625118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.625118 # Seafloor depth: -2885.625118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 85.086012 meters # Minimum depth: 2883.365407 meters looking forward 0.000000 meters along route # Maximum depth: 2883.365407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.365407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604710; longitude = -122.426447; captureRadius = 10; duration = 170; initialDepth = 2831.094501; finalDepth = 2833.365407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.365407 # Seafloor depth: -2883.365407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.375085 meters # Minimum depth: 2881.094501 meters looking forward 0.000000 meters along route # Maximum depth: 2881.094501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.094501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604951; longitude = -122.425544; captureRadius = 10; duration = 166; initialDepth = 2830.499075; finalDepth = 2831.094501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.094501 # Seafloor depth: -2881.094501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 75.992133 meters # Minimum depth: 2880.499075 meters looking forward 0.000000 meters along route # Maximum depth: 2880.499075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.499075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605187; longitude = -122.424659; captureRadius = 10; duration = 151; initialDepth = 2828.831508; finalDepth = 2830.499075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.499075 # Seafloor depth: -2880.499075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 81.939329 meters # Minimum depth: 2878.831508 meters looking forward 0.000000 meters along route # Maximum depth: 2878.831508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.831508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605402; longitude = -122.423852; captureRadius = 10; duration = 163; initialDepth = 2828.682496; finalDepth = 2828.831508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.831508 # Seafloor depth: -2878.831508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.427085 meters # Minimum depth: 2878.682496 meters looking forward 0.000000 meters along route # Maximum depth: 2878.682496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.682496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605634; longitude = -122.422982; captureRadius = 10; duration = 154; initialDepth = 2826.323914; finalDepth = 2828.682496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.682496 # Seafloor depth: -2878.682496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 80.503588 meters # Minimum depth: 2876.323914 meters looking forward 0.000000 meters along route # Maximum depth: 2876.323914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.323914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605853; longitude = -122.422160; captureRadius = 10; duration = 161; initialDepth = 2826.152286; finalDepth = 2826.323914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.323914 # Seafloor depth: -2876.323914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 78.862022 meters # Minimum depth: 2876.152286 meters looking forward 0.000000 meters along route # Maximum depth: 2876.152286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.152286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606080; longitude = -122.421305; captureRadius = 10; duration = 157; initialDepth = 2822.674555; finalDepth = 2826.152286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.152286 # Seafloor depth: -2876.152286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 79.067861 meters # Minimum depth: 2872.674555 meters looking forward 0.000000 meters along route # Maximum depth: 2872.674555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2822.674555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606303; longitude = -122.420468; captureRadius = 10; duration = 158; initialDepth = 2821.151409; finalDepth = 2822.674555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2822.674555 # Seafloor depth: -2872.674555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.228948 meters # Minimum depth: 2871.151409 meters looking forward 0.000000 meters along route # Maximum depth: 2871.151409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2821.151409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606527; longitude = -122.419629; captureRadius = 10; duration = 168; initialDepth = 2822.777068; finalDepth = 2821.151409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2821.151409 # Seafloor depth: -2871.151409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 84.228724 meters # Minimum depth: 2872.777068 meters looking forward 0.000000 meters along route # Maximum depth: 2872.777068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2822.777068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606765; longitude = -122.418734; captureRadius = 10; duration = 168; initialDepth = 2820.087803; finalDepth = 2822.777068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2822.777068 # Seafloor depth: -2872.777068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 76.588842 meters # Minimum depth: 2870.087803 meters looking forward 0.000000 meters along route # Maximum depth: 2870.087803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2820.087803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607003; longitude = -122.417840; captureRadius = 10; duration = 153; initialDepth = 2819.120911; finalDepth = 2820.087803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2820.087803 # Seafloor depth: -2870.087803 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 72.499461 meters # Minimum depth: 2869.120911 meters looking forward 0.000000 meters along route # Maximum depth: 2869.120911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.120911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607220; longitude = -122.417027; captureRadius = 10; duration = 144; # abortOnTimeout = True; initialDepth = 2816.652585; finalDepth = 2819.120911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.120911 # Seafloor depth: -2869.120911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 77.501589 meters # Minimum depth: 2866.652585 meters looking forward 0.000000 meters along route # Maximum depth: 2866.652585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2816.652585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607841; longitude = -122.417281; captureRadius = 10; duration = 155; initialDepth = 2818.785339; finalDepth = 2816.652585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2816.652585 # Seafloor depth: -2866.652585 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 76.896473 meters # Minimum depth: 2868.785339 meters looking forward 0.000000 meters along route # Maximum depth: 2868.785339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2818.785339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608504; longitude = -122.417553; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 2818.910319; finalDepth = 2818.785339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2818.785339 # Seafloor depth: -2868.785339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 76.488788 meters # Minimum depth: 2868.910319 meters looking forward 0.000000 meters along route # Maximum depth: 2868.910319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2818.910319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608287; longitude = -122.418369; captureRadius = 10; duration = 152; initialDepth = 2819.911068; finalDepth = 2818.910319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2818.910319 # Seafloor depth: -2868.910319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 82.873187 meters # Minimum depth: 2869.911068 meters looking forward 0.000000 meters along route # Maximum depth: 2869.911068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.911068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608070; longitude = -122.419181; captureRadius = 10; duration = 165; initialDepth = 2820.432038; finalDepth = 2819.911068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.911068 # Seafloor depth: -2869.911068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 75.053871 meters # Minimum depth: 2870.432038 meters looking forward 0.000000 meters along route # Maximum depth: 2870.432038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2820.432038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607836; longitude = -122.420061; captureRadius = 10; duration = 150; initialDepth = 2820.502813; finalDepth = 2820.432038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2820.432038 # Seafloor depth: -2870.432038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.308908 meters # Minimum depth: 2870.502813 meters looking forward 0.000000 meters along route # Maximum depth: 2870.502813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2820.502813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607624; longitude = -122.420858; captureRadius = 10; duration = 168; initialDepth = 2825.732947; finalDepth = 2820.502813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2820.502813 # Seafloor depth: -2870.502813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.147492 meters # Minimum depth: 2875.732947 meters looking forward 0.000000 meters along route # Maximum depth: 2875.732947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.732947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607385; longitude = -122.421753; captureRadius = 10; duration = 168; initialDepth = 2823.384209; finalDepth = 2825.732947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.732947 # Seafloor depth: -2875.732947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 75.216091 meters # Minimum depth: 2873.384209 meters looking forward 0.000000 meters along route # Maximum depth: 2873.384209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.384209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607147; longitude = -122.422647; captureRadius = 10; duration = 150; initialDepth = 2825.314221; finalDepth = 2823.384209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.384209 # Seafloor depth: -2873.384209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 82.712599 meters # Minimum depth: 2875.314221 meters looking forward 0.000000 meters along route # Maximum depth: 2875.314221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.314221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606934; longitude = -122.423445; captureRadius = 10; duration = 165; initialDepth = 2826.861705; finalDepth = 2825.314221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.314221 # Seafloor depth: -2875.314221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 76.651788 meters # Minimum depth: 2876.861705 meters looking forward 0.000000 meters along route # Maximum depth: 2876.861705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.861705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606700; longitude = -122.424323; captureRadius = 10; duration = 153; initialDepth = 2829.787464; finalDepth = 2826.861705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.861705 # Seafloor depth: -2876.861705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 81.277692 meters # Minimum depth: 2879.787464 meters looking forward 0.000000 meters along route # Maximum depth: 2879.787464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.787464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606484; longitude = -122.425137; captureRadius = 10; duration = 162; initialDepth = 2828.498469; finalDepth = 2829.787464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.787464 # Seafloor depth: -2879.787464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 78.087499 meters # Minimum depth: 2878.498469 meters looking forward 0.000000 meters along route # Maximum depth: 2878.498469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.498469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606254; longitude = -122.426000; captureRadius = 10; duration = 156; initialDepth = 2831.357626; finalDepth = 2828.498469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.498469 # Seafloor depth: -2878.498469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 79.842771 meters # Minimum depth: 2881.357626 meters looking forward 0.000000 meters along route # Maximum depth: 2881.357626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.357626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606033; longitude = -122.426829; captureRadius = 10; duration = 159; initialDepth = 2830.788291; finalDepth = 2831.357626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.357626 # Seafloor depth: -2881.357626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 79.523225 meters # Minimum depth: 2880.788291 meters looking forward 0.000000 meters along route # Maximum depth: 2880.788291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.788291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605807; longitude = -122.427677; captureRadius = 10; duration = 159; initialDepth = 2834.040795; finalDepth = 2830.788291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.788291 # Seafloor depth: -2880.788291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 78.407835 meters # Minimum depth: 2884.040795 meters looking forward 0.000000 meters along route # Maximum depth: 2884.040795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.040795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605582; longitude = -122.428521; captureRadius = 10; duration = 156; initialDepth = 2832.337454; finalDepth = 2834.040795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.040795 # Seafloor depth: -2884.040795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 80.958966 meters # Minimum depth: 2882.337454 meters looking forward 0.000000 meters along route # Maximum depth: 2882.337454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.337454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605360; longitude = -122.429353; captureRadius = 10; duration = 161; initialDepth = 2833.054355; finalDepth = 2832.337454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.337454 # Seafloor depth: -2882.337454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 76.972885 meters # Minimum depth: 2883.054355 meters looking forward 0.000000 meters along route # Maximum depth: 2883.054355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.054355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605131; longitude = -122.430213; captureRadius = 10; duration = 153; initialDepth = 2835.477758; finalDepth = 2833.054355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.054355 # Seafloor depth: -2883.054355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.230643 meters # Minimum depth: 2885.477758 meters looking forward 0.000000 meters along route # Maximum depth: 2885.477758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.477758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604914; longitude = -122.431030; captureRadius = 10; duration = 168; initialDepth = 2834.181985; finalDepth = 2835.477758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.477758 # Seafloor depth: -2885.477758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.230868 meters # Minimum depth: 2884.181985 meters looking forward 0.000000 meters along route # Maximum depth: 2884.181985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.181985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604676; longitude = -122.431924; captureRadius = 10; duration = 168; initialDepth = 2843.908725; finalDepth = 2834.181985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.181985 # Seafloor depth: -2884.181985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.231092 meters # Minimum depth: 2893.908725 meters looking forward 0.000000 meters along route # Maximum depth: 2893.908725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.908725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604437; longitude = -122.432819; captureRadius = 10; duration = 168; initialDepth = 2839.283146; finalDepth = 2843.908725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.908725 # Seafloor depth: -2893.908725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.691958 meters # Minimum depth: 2889.283146 meters looking forward 0.000000 meters along route # Maximum depth: 2889.283146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.283146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604199; longitude = -122.433713; captureRadius = 10; duration = 169; initialDepth = 2839.460075; finalDepth = 2839.283146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.283146 # Seafloor depth: -2889.283146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 83.770902 meters # Minimum depth: 2889.460075 meters looking forward 0.000000 meters along route # Maximum depth: 2889.460075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.460075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603960; longitude = -122.434612; captureRadius = 10; duration = 167; initialDepth = 2842.815857; finalDepth = 2839.460075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.460075 # Seafloor depth: -2889.460075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 75.598795 meters # Minimum depth: 2892.815857 meters looking forward 0.000000 meters along route # Maximum depth: 2892.815857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.815857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603723; longitude = -122.435501; captureRadius = 10; duration = 151; initialDepth = 2847.086551; finalDepth = 2842.815857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.815857 # Seafloor depth: -2892.815857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 82.335953 meters # Minimum depth: 2897.086551 meters looking forward 0.000000 meters along route # Maximum depth: 2897.086551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.086551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603509; longitude = -122.436304; captureRadius = 10; duration = 164; initialDepth = 2848.073130; finalDepth = 2847.086551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.086551 # Seafloor depth: -2897.086551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 77.034549 meters # Minimum depth: 2898.073130 meters looking forward 0.000000 meters along route # Maximum depth: 2898.073130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.073130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603276; longitude = -122.437178; captureRadius = 10; duration = 154; initialDepth = 2846.941673; finalDepth = 2848.073130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.07313 # Seafloor depth: -2898.073130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 80.900989 meters # Minimum depth: 2896.941673 meters looking forward 0.000000 meters along route # Maximum depth: 2896.941673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.941673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603058; longitude = -122.437996; captureRadius = 10; duration = 161; initialDepth = 2848.492917; finalDepth = 2846.941673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.941673 # Seafloor depth: -2896.941673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 78.470317 meters # Minimum depth: 2898.492917 meters looking forward 0.000000 meters along route # Maximum depth: 2898.492917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.492917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602829; longitude = -122.438855; captureRadius = 10; duration = 156; initialDepth = 2849.614001; finalDepth = 2848.492917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.492917 # Seafloor depth: -2898.492917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 79.466012 meters # Minimum depth: 2899.614001 meters looking forward 0.000000 meters along route # Maximum depth: 2899.614001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.614001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602607; longitude = -122.439688; captureRadius = 10; duration = 158; initialDepth = 2851.362138; finalDepth = 2849.614001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.614001 # Seafloor depth: -2899.614001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 79.906100 meters # Minimum depth: 2901.362138 meters looking forward 0.000000 meters along route # Maximum depth: 2901.362138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.362138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602383; longitude = -122.440531; captureRadius = 10; duration = 159; initialDepth = 2855.106482; finalDepth = 2851.362138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.362138 # Seafloor depth: -2901.362138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 78.031019 meters # Minimum depth: 2905.106482 meters looking forward 0.000000 meters along route # Maximum depth: 2905.106482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.106482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602157; longitude = -122.441380; captureRadius = 10; duration = 156; initialDepth = 2860.150177; finalDepth = 2855.106482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.106482 # Seafloor depth: -2905.106482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 81.341898 meters # Minimum depth: 2910.150177 meters looking forward 0.000000 meters along route # Maximum depth: 2910.150177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.150177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601936; longitude = -122.442208; captureRadius = 10; duration = 162; initialDepth = 2862.693495; finalDepth = 2860.150177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.150177 # Seafloor depth: -2910.150177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 76.596012 meters # Minimum depth: 2912.693495 meters looking forward 0.000000 meters along route # Maximum depth: 2912.693495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.693495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601706; longitude = -122.443072; captureRadius = 10; duration = 153; initialDepth = 2858.422312; finalDepth = 2862.693495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.693495 # Seafloor depth: -2912.693495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 82.777710 meters # Minimum depth: 2908.422312 meters looking forward 0.000000 meters along route # Maximum depth: 2908.422312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.422312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601489; longitude = -122.443885; captureRadius = 10; duration = 165; initialDepth = 2858.828515; finalDepth = 2858.422312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.422312 # Seafloor depth: -2908.422312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 75.160991 meters # Minimum depth: 2908.828515 meters looking forward 0.000000 meters along route # Maximum depth: 2908.828515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.828515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601255; longitude = -122.444764; captureRadius = 10; duration = 150; initialDepth = 2860.431888; finalDepth = 2858.828515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.828515 # Seafloor depth: -2908.828515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.234297 meters # Minimum depth: 2910.431888 meters looking forward 0.000000 meters along route # Maximum depth: 2910.431888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.431888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601043; longitude = -122.445561; captureRadius = 10; duration = 168; initialDepth = 2860.659530; finalDepth = 2860.431888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.431888 # Seafloor depth: -2910.431888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.234522 meters # Minimum depth: 2910.659530 meters looking forward 0.000000 meters along route # Maximum depth: 2910.659530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.659530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600804; longitude = -122.446456; captureRadius = 10; duration = 168; initialDepth = 2866.778352; finalDepth = 2860.659530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.65953 # Seafloor depth: -2910.659530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 75.120050 meters # Minimum depth: 2916.778352 meters looking forward 0.000000 meters along route # Maximum depth: 2916.778352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.778352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600566; longitude = -122.447350; captureRadius = 10; duration = 150; initialDepth = 2867.317134; finalDepth = 2866.778352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.778352 # Seafloor depth: -2916.778352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 82.820285 meters # Minimum depth: 2917.317134 meters looking forward 0.000000 meters along route # Maximum depth: 2917.317134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.317134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600354; longitude = -122.448147; captureRadius = 10; duration = 165; initialDepth = 2874.350649; finalDepth = 2867.317134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.317134 # Seafloor depth: -2917.317134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 76.555852 meters # Minimum depth: 2924.350649 meters looking forward 0.000000 meters along route # Maximum depth: 2924.350649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.350649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600120; longitude = -122.449027; captureRadius = 10; duration = 153; initialDepth = 2869.655783; finalDepth = 2874.350649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.350649 # Seafloor depth: -2924.350649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 81.385274 meters # Minimum depth: 2919.655783 meters looking forward 0.000000 meters along route # Maximum depth: 2919.655783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.655783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599903; longitude = -122.449839; captureRadius = 10; duration = 162; initialDepth = 2871.995942; finalDepth = 2869.655783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.655783 # Seafloor depth: -2919.655783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 78.442008 meters # Minimum depth: 2921.995942 meters looking forward 0.000000 meters along route # Maximum depth: 2921.995942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.995942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599673; longitude = -122.450703; captureRadius = 10; duration = 156; initialDepth = 2870.274048; finalDepth = 2871.995942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.995942 # Seafloor depth: -2921.995942 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 73.866624 meters # Minimum depth: 2920.274048 meters looking forward 0.000000 meters along route # Maximum depth: 2920.274048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.274048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599451; longitude = -122.451536; captureRadius = 10; duration = 147; # abortOnTimeout = True; initialDepth = 2872.336236; finalDepth = 2870.274048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.274048 # Seafloor depth: -2920.274048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 76.135153 meters # Minimum depth: 2922.336236 meters looking forward 0.000000 meters along route # Maximum depth: 2922.336236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.336236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600083; longitude = -122.451795; captureRadius = 10; duration = 152; initialDepth = 2868.449463; finalDepth = 2872.336236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.336236 # Seafloor depth: -2922.336236 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 75.341820 meters # Minimum depth: 2918.449463 meters looking forward 0.000000 meters along route # Maximum depth: 2918.449463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.449463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600735; longitude = -122.452062; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 2872.344068; finalDepth = 2868.449463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.449463 # Seafloor depth: -2918.449463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 76.720050 meters # Minimum depth: 2922.344068 meters looking forward 0.000000 meters along route # Maximum depth: 2922.344068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.344068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600948; longitude = -122.451262; captureRadius = 10; duration = 153; initialDepth = 2870.027934; finalDepth = 2872.344068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.344068 # Seafloor depth: -2922.344068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 81.218269 meters # Minimum depth: 2920.027934 meters looking forward 0.000000 meters along route # Maximum depth: 2920.027934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.027934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601165; longitude = -122.450448; captureRadius = 10; duration = 162; initialDepth = 2870.663985; finalDepth = 2870.027934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.027934 # Seafloor depth: -2920.027934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 78.159749 meters # Minimum depth: 2920.663985 meters looking forward 0.000000 meters along route # Maximum depth: 2920.663985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.663985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601395; longitude = -122.449585; captureRadius = 10; duration = 156; initialDepth = 2864.740038; finalDepth = 2870.663985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.663985 # Seafloor depth: -2920.663985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 79.777779 meters # Minimum depth: 2914.740038 meters looking forward 0.000000 meters along route # Maximum depth: 2914.740038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.740038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601616; longitude = -122.448756; captureRadius = 10; duration = 159; initialDepth = 2863.473759; finalDepth = 2864.740038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.740038 # Seafloor depth: -2914.740038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 79.599434 meters # Minimum depth: 2913.473759 meters looking forward 0.000000 meters along route # Maximum depth: 2913.473759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.473759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601841; longitude = -122.447909; captureRadius = 10; duration = 159; initialDepth = 2856.630132; finalDepth = 2863.473759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.473759 # Seafloor depth: -2913.473759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 78.337302 meters # Minimum depth: 2906.630132 meters looking forward 0.000000 meters along route # Maximum depth: 2906.630132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.630132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602066; longitude = -122.447064; captureRadius = 10; duration = 156; initialDepth = 2855.226692; finalDepth = 2856.630132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.630132 # Seafloor depth: -2906.630132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 81.039105 meters # Minimum depth: 2905.226692 meters looking forward 0.000000 meters along route # Maximum depth: 2905.226692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.226692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602288; longitude = -122.446232; captureRadius = 10; duration = 162; initialDepth = 2855.471111; finalDepth = 2855.226692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.226692 # Seafloor depth: -2905.226692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 76.896841 meters # Minimum depth: 2905.471111 meters looking forward 0.000000 meters along route # Maximum depth: 2905.471111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.471111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602517; longitude = -122.445372; captureRadius = 10; duration = 153; initialDepth = 2853.013795; finalDepth = 2855.471111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.471111 # Seafloor depth: -2905.471111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.232181 meters # Minimum depth: 2903.013795 meters looking forward 0.000000 meters along route # Maximum depth: 2903.013795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.013795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602735; longitude = -122.444555; captureRadius = 10; duration = 168; initialDepth = 2854.223410; finalDepth = 2853.013795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.013795 # Seafloor depth: -2903.013795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.231957 meters # Minimum depth: 2904.223410 meters looking forward 0.000000 meters along route # Maximum depth: 2904.223410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.223410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602973; longitude = -122.443661; captureRadius = 10; duration = 168; initialDepth = 2853.261080; finalDepth = 2854.223410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.22341 # Seafloor depth: -2904.223410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.231731 meters # Minimum depth: 2903.261080 meters looking forward 0.000000 meters along route # Maximum depth: 2903.261080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.261080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603211; longitude = -122.442767; captureRadius = 10; duration = 168; initialDepth = 2850.417360; finalDepth = 2853.261080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.26108 # Seafloor depth: -2903.261080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.782181 meters # Minimum depth: 2900.417360 meters looking forward 0.000000 meters along route # Maximum depth: 2900.417360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.417360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603449; longitude = -122.441873; captureRadius = 10; duration = 169; initialDepth = 2851.772479; finalDepth = 2850.417360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.41736 # Seafloor depth: -2900.417360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 83.680607 meters # Minimum depth: 2901.772479 meters looking forward 0.000000 meters along route # Maximum depth: 2901.772479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.772479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603689; longitude = -122.440973; captureRadius = 10; duration = 167; initialDepth = 2847.989279; finalDepth = 2851.772479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.772479 # Seafloor depth: -2901.772479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 75.692902 meters # Minimum depth: 2897.989279 meters looking forward 0.000000 meters along route # Maximum depth: 2897.989279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.989279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603926; longitude = -122.440084; captureRadius = 10; duration = 151; initialDepth = 2847.073680; finalDepth = 2847.989279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.989279 # Seafloor depth: -2897.989279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 82.240145 meters # Minimum depth: 2897.073680 meters looking forward 0.000000 meters along route # Maximum depth: 2897.073680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.073680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604140; longitude = -122.439281; captureRadius = 10; duration = 164; initialDepth = 2845.840793; finalDepth = 2847.073680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.07368 # Seafloor depth: -2897.073680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 77.132559 meters # Minimum depth: 2895.840793 meters looking forward 0.000000 meters along route # Maximum depth: 2895.840793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.840793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604372; longitude = -122.438408; captureRadius = 10; duration = 154; initialDepth = 2841.712070; finalDepth = 2845.840793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.840793 # Seafloor depth: -2895.840793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 80.799697 meters # Minimum depth: 2891.712070 meters looking forward 0.000000 meters along route # Maximum depth: 2891.712070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.712070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604591; longitude = -122.437589; captureRadius = 10; duration = 161; initialDepth = 2841.126926; finalDepth = 2841.712070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.71207 # Seafloor depth: -2891.712070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 78.572201 meters # Minimum depth: 2891.126926 meters looking forward 0.000000 meters along route # Maximum depth: 2891.126926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.126926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604819; longitude = -122.436731; captureRadius = 10; duration = 157; initialDepth = 2840.044999; finalDepth = 2841.126926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.126926 # Seafloor depth: -2891.126926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 79.359265 meters # Minimum depth: 2890.044999 meters looking forward 0.000000 meters along route # Maximum depth: 2890.044999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.044999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605041; longitude = -122.435897; captureRadius = 10; duration = 158; initialDepth = 2837.808440; finalDepth = 2840.044999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.044999 # Seafloor depth: -2890.044999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 80.011829 meters # Minimum depth: 2887.808440 meters looking forward 0.000000 meters along route # Maximum depth: 2887.808440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.808440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605266; longitude = -122.435054; captureRadius = 10; duration = 160; initialDepth = 2836.929345; finalDepth = 2837.808440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.80844 # Seafloor depth: -2887.808440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 77.918846 meters # Minimum depth: 2886.929345 meters looking forward 0.000000 meters along route # Maximum depth: 2886.929345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.929345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605492; longitude = -122.434205; captureRadius = 10; duration = 155; initialDepth = 2837.104494; finalDepth = 2836.929345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.929345 # Seafloor depth: -2886.929345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 81.451443 meters # Minimum depth: 2887.104494 meters looking forward 0.000000 meters along route # Maximum depth: 2887.104494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.104494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605712; longitude = -122.433377; captureRadius = 10; duration = 162; initialDepth = 2831.455450; finalDepth = 2837.104494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.104494 # Seafloor depth: -2887.104494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 76.478443 meters # Minimum depth: 2881.455450 meters looking forward 0.000000 meters along route # Maximum depth: 2881.455450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.455450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605943; longitude = -122.432513; captureRadius = 10; duration = 152; initialDepth = 2832.398139; finalDepth = 2831.455450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.45545 # Seafloor depth: -2881.455450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 82.891042 meters # Minimum depth: 2882.398139 meters looking forward 0.000000 meters along route # Maximum depth: 2882.398139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.398139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606159; longitude = -122.431701; captureRadius = 10; duration = 165; initialDepth = 2829.890583; finalDepth = 2832.398139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.398139 # Seafloor depth: -2882.398139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 75.038053 meters # Minimum depth: 2879.890583 meters looking forward 0.000000 meters along route # Maximum depth: 2879.890583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.890583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606393; longitude = -122.430821; captureRadius = 10; duration = 150; initialDepth = 2829.000594; finalDepth = 2829.890583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.890583 # Seafloor depth: -2879.890583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.330627 meters # Minimum depth: 2879.000594 meters looking forward 0.000000 meters along route # Maximum depth: 2879.000594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.000594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606606; longitude = -122.430024; captureRadius = 10; duration = 168; initialDepth = 2830.693800; finalDepth = 2829.000594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.000594 # Seafloor depth: -2879.000594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.126203 meters # Minimum depth: 2880.693800 meters looking forward 0.000000 meters along route # Maximum depth: 2880.693800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.693800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606844; longitude = -122.429129; captureRadius = 10; duration = 168; initialDepth = 2829.655594; finalDepth = 2830.693800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.6938 # Seafloor depth: -2880.693800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 75.241672 meters # Minimum depth: 2879.655594 meters looking forward 0.000000 meters along route # Maximum depth: 2879.655594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.655594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607082; longitude = -122.428236; captureRadius = 10; duration = 150; initialDepth = 2828.148560; finalDepth = 2829.655594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.655594 # Seafloor depth: -2879.655594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 82.685791 meters # Minimum depth: 2878.148560 meters looking forward 0.000000 meters along route # Maximum depth: 2878.148560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.148560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607295; longitude = -122.427437; captureRadius = 10; duration = 165; initialDepth = 2826.527415; finalDepth = 2828.148560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.14856 # Seafloor depth: -2878.148560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 76.681280 meters # Minimum depth: 2876.527415 meters looking forward 0.000000 meters along route # Maximum depth: 2876.527415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.527415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607529; longitude = -122.426559; captureRadius = 10; duration = 153; initialDepth = 2824.740903; finalDepth = 2826.527415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.527415 # Seafloor depth: -2876.527415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 81.245392 meters # Minimum depth: 2874.740903 meters looking forward 0.000000 meters along route # Maximum depth: 2874.740903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2824.740903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607746; longitude = -122.425745; captureRadius = 10; duration = 162; initialDepth = 2824.142487; finalDepth = 2824.740903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2824.740903 # Seafloor depth: -2874.740903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 78.120874 meters # Minimum depth: 2874.142487 meters looking forward 0.000000 meters along route # Maximum depth: 2874.142487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2824.142487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607975; longitude = -122.424882; captureRadius = 10; duration = 156; initialDepth = 2822.229391; finalDepth = 2824.142487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2824.142487 # Seafloor depth: -2874.142487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 79.805008 meters # Minimum depth: 2872.229391 meters looking forward 0.000000 meters along route # Maximum depth: 2872.229391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2822.229391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608196; longitude = -122.424053; captureRadius = 10; duration = 159; initialDepth = 2821.859591; finalDepth = 2822.229391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2822.229391 # Seafloor depth: -2872.229391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 79.560454 meters # Minimum depth: 2871.859591 meters looking forward 0.000000 meters along route # Maximum depth: 2871.859591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2821.859591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608422; longitude = -122.423206; captureRadius = 10; duration = 159; initialDepth = 2822.216265; finalDepth = 2821.859591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2821.859591 # Seafloor depth: -2871.859591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 78.364639 meters # Minimum depth: 2872.216265 meters looking forward 0.000000 meters along route # Maximum depth: 2872.216265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2822.216265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608647; longitude = -122.422361; captureRadius = 10; duration = 156; initialDepth = 2819.860260; finalDepth = 2822.216265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2822.216265 # Seafloor depth: -2872.216265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 81.000019 meters # Minimum depth: 2869.860260 meters looking forward 0.000000 meters along route # Maximum depth: 2869.860260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.860260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608869; longitude = -122.421529; captureRadius = 10; duration = 162; initialDepth = 2819.745575; finalDepth = 2819.860260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.86026 # Seafloor depth: -2869.860260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 76.924284 meters # Minimum depth: 2869.745575 meters looking forward 0.000000 meters along route # Maximum depth: 2869.745575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.745575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609098; longitude = -122.420669; captureRadius = 10; duration = 153; initialDepth = 2819.966098; finalDepth = 2819.745575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.745575 # Seafloor depth: -2869.745575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.225972 meters # Minimum depth: 2869.966098 meters looking forward 0.000000 meters along route # Maximum depth: 2869.966098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.966098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609315; longitude = -122.419852; captureRadius = 10; duration = 168; initialDepth = 2818.766141; finalDepth = 2819.966098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.966098 # Seafloor depth: -2869.966098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 82.877487 meters # Minimum depth: 2868.766141 meters looking forward 0.000000 meters along route # Maximum depth: 2868.766141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2818.766141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609554; longitude = -122.418958; captureRadius = 10; duration = 165; initialDepth = 2816.548706; finalDepth = 2818.766141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2818.766141 # Seafloor depth: -2868.766141 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 66.805554 meters # Minimum depth: 2866.548706 meters looking forward 0.000000 meters along route # Maximum depth: 2866.548706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2816.548706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609788; longitude = -122.418078; captureRadius = 10; duration = 133; # abortOnTimeout = True; initialDepth = 2820.772960; finalDepth = 2816.548706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2816.548706 # Seafloor depth: -2866.548706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 83.195047 meters # Minimum depth: 2870.772960 meters looking forward 0.000000 meters along route # Maximum depth: 2870.772960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2820.772960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610360; longitude = -122.418312; captureRadius = 10; duration = 166; initialDepth = 2818.475647; finalDepth = 2820.772960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2820.77296 # Seafloor depth: -2870.772960 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 60.558436 meters # Minimum depth: 2868.475647 meters looking forward 0.000000 meters along route # Maximum depth: 2868.475647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2818.475647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611072; longitude = -122.418604; captureRadius = 10; duration = 121; # abortOnTimeout = True; initialDepth = 2819.269428; finalDepth = 2818.475647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2818.475647 # Seafloor depth: -2868.475647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 78.056271 meters # Minimum depth: 2869.269428 meters looking forward 0.000000 meters along route # Maximum depth: 2869.269428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.269428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610901; longitude = -122.419247; captureRadius = 10; duration = 156; initialDepth = 2819.620506; finalDepth = 2819.269428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.269428 # Seafloor depth: -2869.269428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 81.309301 meters # Minimum depth: 2869.620506 meters looking forward 0.000000 meters along route # Maximum depth: 2869.620506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.620506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610680; longitude = -122.420076; captureRadius = 10; duration = 162; initialDepth = 2819.433969; finalDepth = 2819.620506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.620506 # Seafloor depth: -2869.620506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 76.612035 meters # Minimum depth: 2869.433969 meters looking forward 0.000000 meters along route # Maximum depth: 2869.433969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2819.433969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610450; longitude = -122.420939; captureRadius = 10; duration = 153; initialDepth = 2821.962878; finalDepth = 2819.433969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2819.433969 # Seafloor depth: -2869.433969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 82.754341 meters # Minimum depth: 2871.962878 meters looking forward 0.000000 meters along route # Maximum depth: 2871.962878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2821.962878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610233; longitude = -122.421752; captureRadius = 10; duration = 165; initialDepth = 2823.040762; finalDepth = 2821.962878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2821.962878 # Seafloor depth: -2871.962878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 75.167786 meters # Minimum depth: 2873.040762 meters looking forward 0.000000 meters along route # Maximum depth: 2873.040762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.040762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609999; longitude = -122.422631; captureRadius = 10; duration = 150; initialDepth = 2823.120551; finalDepth = 2823.040762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.040762 # Seafloor depth: -2873.040762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.225457 meters # Minimum depth: 2873.120551 meters looking forward 0.000000 meters along route # Maximum depth: 2873.120551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.120551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609787; longitude = -122.423429; captureRadius = 10; duration = 168; initialDepth = 2821.963556; finalDepth = 2823.120551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.120551 # Seafloor depth: -2873.120551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.225681 meters # Minimum depth: 2871.963556 meters looking forward 0.000000 meters along route # Maximum depth: 2871.963556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2821.963556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609548; longitude = -122.424323; captureRadius = 10; duration = 168; initialDepth = 2825.222725; finalDepth = 2821.963556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2821.963556 # Seafloor depth: -2871.963556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 75.116241 meters # Minimum depth: 2875.222725 meters looking forward 0.000000 meters along route # Maximum depth: 2875.222725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.222725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609310; longitude = -122.425218; captureRadius = 10; duration = 150; initialDepth = 2823.239241; finalDepth = 2825.222725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.222725 # Seafloor depth: -2875.222725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 82.807518 meters # Minimum depth: 2873.239241 meters looking forward 0.000000 meters along route # Maximum depth: 2873.239241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.239241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609098; longitude = -122.426015; captureRadius = 10; duration = 165; initialDepth = 2825.787499; finalDepth = 2823.239241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.239241 # Seafloor depth: -2873.239241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 76.561271 meters # Minimum depth: 2875.787499 meters looking forward 0.000000 meters along route # Maximum depth: 2875.787499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.787499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608864; longitude = -122.426894; captureRadius = 10; duration = 153; initialDepth = 2824.957850; finalDepth = 2825.787499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.787499 # Seafloor depth: -2875.787499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 81.363277 meters # Minimum depth: 2874.957850 meters looking forward 0.000000 meters along route # Maximum depth: 2874.957850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2824.957850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608647; longitude = -122.427707; captureRadius = 10; duration = 162; initialDepth = 2827.118631; finalDepth = 2824.957850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2824.95785 # Seafloor depth: -2874.957850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 78.006316 meters # Minimum depth: 2877.118631 meters looking forward 0.000000 meters along route # Maximum depth: 2877.118631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.118631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608417; longitude = -122.428571; captureRadius = 10; duration = 156; initialDepth = 2827.915270; finalDepth = 2827.118631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.118631 # Seafloor depth: -2877.118631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 79.919023 meters # Minimum depth: 2877.915270 meters looking forward 0.000000 meters along route # Maximum depth: 2877.915270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.915270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608196; longitude = -122.429399; captureRadius = 10; duration = 159; initialDepth = 2828.791404; finalDepth = 2827.915270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.91527 # Seafloor depth: -2877.915270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 79.451376 meters # Minimum depth: 2878.791404 meters looking forward 0.000000 meters along route # Maximum depth: 2878.791404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.791404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607970; longitude = -122.430248; captureRadius = 10; duration = 158; initialDepth = 2831.072585; finalDepth = 2828.791404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.791404 # Seafloor depth: -2878.791404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 78.474753 meters # Minimum depth: 2881.072585 meters looking forward 0.000000 meters along route # Maximum depth: 2881.072585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.072585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607746; longitude = -122.431091; captureRadius = 10; duration = 156; initialDepth = 2833.409859; finalDepth = 2831.072585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.072585 # Seafloor depth: -2881.072585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 80.896449 meters # Minimum depth: 2883.409859 meters looking forward 0.000000 meters along route # Maximum depth: 2883.409859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.409859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607524; longitude = -122.431924; captureRadius = 10; duration = 161; initialDepth = 2831.813153; finalDepth = 2833.409859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.409859 # Seafloor depth: -2883.409859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 77.030470 meters # Minimum depth: 2881.813153 meters looking forward 0.000000 meters along route # Maximum depth: 2881.813153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.813153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607295; longitude = -122.432783; captureRadius = 10; duration = 154; initialDepth = 2832.465582; finalDepth = 2831.813153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.813153 # Seafloor depth: -2881.813153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.228013 meters # Minimum depth: 2882.465582 meters looking forward 0.000000 meters along route # Maximum depth: 2882.465582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.465582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607077; longitude = -122.433601; captureRadius = 10; duration = 168; initialDepth = 2835.720819; finalDepth = 2832.465582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.465582 # Seafloor depth: -2882.465582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.228238 meters # Minimum depth: 2885.720819 meters looking forward 0.000000 meters along route # Maximum depth: 2885.720819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.720819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606839; longitude = -122.434495; captureRadius = 10; duration = 168; initialDepth = 2834.288153; finalDepth = 2835.720819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.720819 # Seafloor depth: -2885.720819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.228463 meters # Minimum depth: 2884.288153 meters looking forward 0.000000 meters along route # Maximum depth: 2884.288153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.288153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606601; longitude = -122.435389; captureRadius = 10; duration = 168; initialDepth = 2835.137322; finalDepth = 2834.288153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.288153 # Seafloor depth: -2884.288153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.653710 meters # Minimum depth: 2885.137322 meters looking forward 0.000000 meters along route # Maximum depth: 2885.137322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.137322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606362; longitude = -122.436284; captureRadius = 10; duration = 169; initialDepth = 2841.315435; finalDepth = 2835.137322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.137322 # Seafloor depth: -2885.137322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 83.803890 meters # Minimum depth: 2891.315435 meters looking forward 0.000000 meters along route # Maximum depth: 2891.315435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.315435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606123; longitude = -122.437182; captureRadius = 10; duration = 167; initialDepth = 2844.752423; finalDepth = 2841.315435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.315435 # Seafloor depth: -2891.315435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 75.570211 meters # Minimum depth: 2894.752423 meters looking forward 0.000000 meters along route # Maximum depth: 2894.752423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.752423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605886; longitude = -122.438072; captureRadius = 10; duration = 151; initialDepth = 2848.788942; finalDepth = 2844.752423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.752423 # Seafloor depth: -2894.752423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 82.359606 meters # Minimum depth: 2898.788942 meters looking forward 0.000000 meters along route # Maximum depth: 2898.788942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.788942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605672; longitude = -122.438875; captureRadius = 10; duration = 164; initialDepth = 2850.542324; finalDepth = 2848.788942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.788942 # Seafloor depth: -2898.788942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 77.015299 meters # Minimum depth: 2900.542324 meters looking forward 0.000000 meters along route # Maximum depth: 2900.542324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.542324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605439; longitude = -122.439749; captureRadius = 10; duration = 154; initialDepth = 2849.806382; finalDepth = 2850.542324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.542324 # Seafloor depth: -2900.542324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 80.915309 meters # Minimum depth: 2899.806382 meters looking forward 0.000000 meters along route # Maximum depth: 2899.806382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.806382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605222; longitude = -122.440567; captureRadius = 10; duration = 161; initialDepth = 2850.478352; finalDepth = 2849.806382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.806382 # Seafloor depth: -2899.806382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 78.460402 meters # Minimum depth: 2900.478352 meters looking forward 0.000000 meters along route # Maximum depth: 2900.478352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.478352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604993; longitude = -122.441426; captureRadius = 10; duration = 156; initialDepth = 2849.251883; finalDepth = 2850.478352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.478352 # Seafloor depth: -2900.478352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 79.470996 meters # Minimum depth: 2899.251883 meters looking forward 0.000000 meters along route # Maximum depth: 2899.251883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.251883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604771; longitude = -122.442259; captureRadius = 10; duration = 158; initialDepth = 2846.532519; finalDepth = 2849.251883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.251883 # Seafloor depth: -2899.251883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 79.905519 meters # Minimum depth: 2896.532519 meters looking forward 0.000000 meters along route # Maximum depth: 2896.532519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.532519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604546; longitude = -122.443102; captureRadius = 10; duration = 159; initialDepth = 2847.427834; finalDepth = 2846.532519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.532519 # Seafloor depth: -2896.532519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 78.026670 meters # Minimum depth: 2897.427834 meters looking forward 0.000000 meters along route # Maximum depth: 2897.427834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.427834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604320; longitude = -122.443951; captureRadius = 10; duration = 156; initialDepth = 2846.310799; finalDepth = 2847.427834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.427834 # Seafloor depth: -2897.427834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 81.350652 meters # Minimum depth: 2896.310799 meters looking forward 0.000000 meters along route # Maximum depth: 2896.310799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.310799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604099; longitude = -122.444779; captureRadius = 10; duration = 162; initialDepth = 2850.731288; finalDepth = 2846.310799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.310799 # Seafloor depth: -2896.310799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 76.582328 meters # Minimum depth: 2900.731288 meters looking forward 0.000000 meters along route # Maximum depth: 2900.731288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.731288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603869; longitude = -122.445643; captureRadius = 10; duration = 153; initialDepth = 2851.614408; finalDepth = 2850.731288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.731288 # Seafloor depth: -2900.731288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.231246 meters # Minimum depth: 2901.614408 meters looking forward 0.000000 meters along route # Maximum depth: 2901.614408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.614408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603653; longitude = -122.446456; captureRadius = 10; duration = 168; initialDepth = 2853.911755; finalDepth = 2851.614408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.614408 # Seafloor depth: -2901.614408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.231471 meters # Minimum depth: 2903.911755 meters looking forward 0.000000 meters along route # Maximum depth: 2903.911755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.911755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603415; longitude = -122.447350; captureRadius = 10; duration = 168; initialDepth = 2860.913121; finalDepth = 2853.911755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.911755 # Seafloor depth: -2903.911755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 84.231696 meters # Minimum depth: 2910.913121 meters looking forward 0.000000 meters along route # Maximum depth: 2910.913121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.913121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603176; longitude = -122.448244; captureRadius = 10; duration = 168; initialDepth = 2859.904477; finalDepth = 2860.913121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.913121 # Seafloor depth: -2910.913121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 85.108063 meters # Minimum depth: 2909.904477 meters looking forward 0.000000 meters along route # Maximum depth: 2909.904477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.904477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602938; longitude = -122.449138; captureRadius = 10; duration = 170; initialDepth = 2857.362514; finalDepth = 2859.904477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.904477 # Seafloor depth: -2909.904477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 83.356003 meters # Minimum depth: 2907.362514 meters looking forward 0.000000 meters along route # Maximum depth: 2907.362514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.362514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602698; longitude = -122.450042; captureRadius = 10; duration = 166; initialDepth = 2864.203827; finalDepth = 2857.362514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.362514 # Seafloor depth: -2907.362514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 76.024217 meters # Minimum depth: 2914.203827 meters looking forward 0.000000 meters along route # Maximum depth: 2914.203827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.203827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602462; longitude = -122.450927; captureRadius = 10; duration = 152; initialDepth = 2869.133578; finalDepth = 2864.203827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.203827 # Seafloor depth: -2914.203827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 80.544092 meters # Minimum depth: 2919.133578 meters looking forward 0.000000 meters along route # Maximum depth: 2919.133578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.133578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602247; longitude = -122.451734; captureRadius = 10; duration = 161; initialDepth = 2868.241577; finalDepth = 2869.133578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.133578 # Seafloor depth: -2919.133578 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 68.734111 meters # Minimum depth: 2918.241577 meters looking forward 0.000000 meters along route # Maximum depth: 2918.241577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.241577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602019; longitude = -122.452589; captureRadius = 10; duration = 137; # abortOnTimeout = True; initialDepth = 2864.270022; finalDepth = 2868.241577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.241577 # Seafloor depth: -2918.241577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 81.267218 meters # Minimum depth: 2914.270022 meters looking forward 0.000000 meters along route # Maximum depth: 2914.270022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.270022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602607; longitude = -122.452830; captureRadius = 10; duration = 162; initialDepth = 2862.550110; finalDepth = 2864.270022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.270022 # Seafloor depth: -2914.270022 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 58.707265 meters # Minimum depth: 2912.550110 meters looking forward 0.000000 meters along route # Maximum depth: 2912.550110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.550110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603303; longitude = -122.453115; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 2860.556096; finalDepth = 2862.550110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.55011 # Seafloor depth: -2912.550110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 77.819616 meters # Minimum depth: 2910.556096 meters looking forward 0.000000 meters along route # Maximum depth: 2910.556096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.556096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603469; longitude = -122.452492; captureRadius = 10; duration = 155; initialDepth = 2860.904428; finalDepth = 2860.556096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.556096 # Seafloor depth: -2910.556096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 80.113597 meters # Minimum depth: 2910.904428 meters looking forward 0.000000 meters along route # Maximum depth: 2910.904428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.904428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603689; longitude = -122.451666; captureRadius = 10; duration = 160; initialDepth = 2859.773763; finalDepth = 2860.904428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.904428 # Seafloor depth: -2910.904428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 79.263953 meters # Minimum depth: 2909.773763 meters looking forward 0.000000 meters along route # Maximum depth: 2909.773763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.773763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603916; longitude = -122.450815; captureRadius = 10; duration = 158; initialDepth = 2858.864819; finalDepth = 2859.773763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.773763 # Seafloor depth: -2909.773763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 78.668470 meters # Minimum depth: 2908.864819 meters looking forward 0.000000 meters along route # Maximum depth: 2908.864819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.864819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604140; longitude = -122.449974; captureRadius = 10; duration = 157; initialDepth = 2854.361156; finalDepth = 2858.864819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.864819 # Seafloor depth: -2908.864819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 80.708275 meters # Minimum depth: 2904.361156 meters looking forward 0.000000 meters along route # Maximum depth: 2904.361156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.361156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604362; longitude = -122.449138; captureRadius = 10; duration = 161; initialDepth = 2852.836786; finalDepth = 2854.361156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.361156 # Seafloor depth: -2904.361156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 77.223356 meters # Minimum depth: 2902.836786 meters looking forward 0.000000 meters along route # Maximum depth: 2902.836786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.836786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604591; longitude = -122.448282; captureRadius = 10; duration = 154; initialDepth = 2847.670075; finalDepth = 2852.836786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.836786 # Seafloor depth: -2902.836786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.229880 meters # Minimum depth: 2897.670075 meters looking forward 0.000000 meters along route # Maximum depth: 2897.670075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.670075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604809; longitude = -122.447462; captureRadius = 10; duration = 168; initialDepth = 2844.195369; finalDepth = 2847.670075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.670075 # Seafloor depth: -2897.670075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.229655 meters # Minimum depth: 2894.195369 meters looking forward 0.000000 meters along route # Maximum depth: 2894.195369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.195369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605047; longitude = -122.446567; captureRadius = 10; duration = 168; initialDepth = 2844.278324; finalDepth = 2844.195369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.195369 # Seafloor depth: -2894.195369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.229430 meters # Minimum depth: 2894.278324 meters looking forward 0.000000 meters along route # Maximum depth: 2894.278324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.278324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605285; longitude = -122.445673; captureRadius = 10; duration = 168; initialDepth = 2845.268411; finalDepth = 2844.278324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.278324 # Seafloor depth: -2894.278324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.463446 meters # Minimum depth: 2895.268411 meters looking forward 0.000000 meters along route # Maximum depth: 2895.268411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.268411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605524; longitude = -122.444779; captureRadius = 10; duration = 168; initialDepth = 2845.867716; finalDepth = 2845.268411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.268411 # Seafloor depth: -2895.268411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 83.994739 meters # Minimum depth: 2895.867716 meters looking forward 0.000000 meters along route # Maximum depth: 2895.867716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.867716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605762; longitude = -122.443882; captureRadius = 10; duration = 167; initialDepth = 2846.349271; finalDepth = 2845.867716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.867716 # Seafloor depth: -2895.867716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 75.379107 meters # Minimum depth: 2896.349271 meters looking forward 0.000000 meters along route # Maximum depth: 2896.349271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.349271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606000; longitude = -122.442990; captureRadius = 10; duration = 150; initialDepth = 2848.421196; finalDepth = 2846.349271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.349271 # Seafloor depth: -2896.349271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 82.549625 meters # Minimum depth: 2898.421196 meters looking forward 0.000000 meters along route # Maximum depth: 2898.421196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.421196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606213; longitude = -122.442190; captureRadius = 10; duration = 165; initialDepth = 2851.337416; finalDepth = 2848.421196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.421196 # Seafloor depth: -2898.421196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 76.823415 meters # Minimum depth: 2901.337416 meters looking forward 0.000000 meters along route # Maximum depth: 2901.337416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.337416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606447; longitude = -122.441314; captureRadius = 10; duration = 153; initialDepth = 2850.685731; finalDepth = 2851.337416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.337416 # Seafloor depth: -2901.337416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 81.104526 meters # Minimum depth: 2900.685731 meters looking forward 0.000000 meters along route # Maximum depth: 2900.685731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.685731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606664; longitude = -122.440498; captureRadius = 10; duration = 162; initialDepth = 2853.206720; finalDepth = 2850.685731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.685731 # Seafloor depth: -2900.685731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 78.267709 meters # Minimum depth: 2903.206720 meters looking forward 0.000000 meters along route # Maximum depth: 2903.206720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.206720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606893; longitude = -122.439637; captureRadius = 10; duration = 156; initialDepth = 2851.118061; finalDepth = 2853.206720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.20672 # Seafloor depth: -2903.206720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 79.659441 meters # Minimum depth: 2901.118061 meters looking forward 0.000000 meters along route # Maximum depth: 2901.118061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.118061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607115; longitude = -122.438806; captureRadius = 10; duration = 159; initialDepth = 2839.025452; finalDepth = 2851.118061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.118061 # Seafloor depth: -2901.118061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 79.711989 meters # Minimum depth: 2889.025452 meters looking forward 0.000000 meters along route # Maximum depth: 2889.025452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.025452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607340; longitude = -122.437960; captureRadius = 10; duration = 159; initialDepth = 2836.676099; finalDepth = 2839.025452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.025452 # Seafloor depth: -2889.025452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 78.214371 meters # Minimum depth: 2886.676099 meters looking forward 0.000000 meters along route # Maximum depth: 2886.676099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.676099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607565; longitude = -122.437114; captureRadius = 10; duration = 156; initialDepth = 2836.713049; finalDepth = 2836.676099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.676099 # Seafloor depth: -2886.676099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 81.156253 meters # Minimum depth: 2886.713049 meters looking forward 0.000000 meters along route # Maximum depth: 2886.713049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.713049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607787; longitude = -122.436284; captureRadius = 10; duration = 162; initialDepth = 2834.002206; finalDepth = 2836.713049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.713049 # Seafloor depth: -2886.713049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 76.769316 meters # Minimum depth: 2884.002206 meters looking forward 0.000000 meters along route # Maximum depth: 2884.002206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.002206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608016; longitude = -122.435422; captureRadius = 10; duration = 153; initialDepth = 2834.515331; finalDepth = 2834.002206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.002206 # Seafloor depth: -2884.002206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.226647 meters # Minimum depth: 2884.515331 meters looking forward 0.000000 meters along route # Maximum depth: 2884.515331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.515331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608233; longitude = -122.434607; captureRadius = 10; duration = 168; initialDepth = 2832.534772; finalDepth = 2834.515331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.515331 # Seafloor depth: -2884.515331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.226423 meters # Minimum depth: 2882.534772 meters looking forward 0.000000 meters along route # Maximum depth: 2882.534772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.534772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608471; longitude = -122.433713; captureRadius = 10; duration = 168; initialDepth = 2830.703280; finalDepth = 2832.534772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.534772 # Seafloor depth: -2882.534772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.226197 meters # Minimum depth: 2880.703280 meters looking forward 0.000000 meters along route # Maximum depth: 2880.703280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.703280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608710; longitude = -122.432819; captureRadius = 10; duration = 168; initialDepth = 2829.176420; finalDepth = 2830.703280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.70328 # Seafloor depth: -2880.703280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.911275 meters # Minimum depth: 2879.176420 meters looking forward 0.000000 meters along route # Maximum depth: 2879.176420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.176420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608948; longitude = -122.431924; captureRadius = 10; duration = 169; initialDepth = 2829.720308; finalDepth = 2829.176420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.17642 # Seafloor depth: -2879.176420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 83.540446 meters # Minimum depth: 2879.720308 meters looking forward 0.000000 meters along route # Maximum depth: 2879.720308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.720308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609188; longitude = -122.431023; captureRadius = 10; duration = 167; initialDepth = 2825.818210; finalDepth = 2829.720308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.720308 # Seafloor depth: -2879.720308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 75.827282 meters # Minimum depth: 2875.818210 meters looking forward 0.000000 meters along route # Maximum depth: 2875.818210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.818210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609424; longitude = -122.430136; captureRadius = 10; duration = 151; initialDepth = 2830.297579; finalDepth = 2825.818210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.81821 # Seafloor depth: -2875.818210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 82.095390 meters # Minimum depth: 2880.297579 meters looking forward 0.000000 meters along route # Maximum depth: 2880.297579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.297579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609639; longitude = -122.429331; captureRadius = 10; duration = 164; initialDepth = 2831.537376; finalDepth = 2830.297579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.297579 # Seafloor depth: -2880.297579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 77.271533 meters # Minimum depth: 2881.537376 meters looking forward 0.000000 meters along route # Maximum depth: 2881.537376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.537376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609871; longitude = -122.428459; captureRadius = 10; duration = 154; initialDepth = 2831.998698; finalDepth = 2831.537376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.537376 # Seafloor depth: -2881.537376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 80.650349 meters # Minimum depth: 2881.998698 meters looking forward 0.000000 meters along route # Maximum depth: 2881.998698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.998698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610089; longitude = -122.427639; captureRadius = 10; duration = 161; initialDepth = 2830.872680; finalDepth = 2831.998698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.998698 # Seafloor depth: -2881.998698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 78.715769 meters # Minimum depth: 2880.872680 meters looking forward 0.000000 meters along route # Maximum depth: 2880.872680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.872680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610318; longitude = -122.426782; captureRadius = 10; duration = 157; initialDepth = 2829.495099; finalDepth = 2830.872680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.87268 # Seafloor depth: -2880.872680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 79.205322 meters # Minimum depth: 2879.495099 meters looking forward 0.000000 meters along route # Maximum depth: 2879.495099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.495099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610540; longitude = -122.425947; captureRadius = 10; duration = 158; initialDepth = 2827.076433; finalDepth = 2829.495099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.495099 # Seafloor depth: -2879.495099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 80.159992 meters # Minimum depth: 2877.076433 meters looking forward 0.000000 meters along route # Maximum depth: 2877.076433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.076433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610764; longitude = -122.425106; captureRadius = 10; duration = 160; initialDepth = 2825.210966; finalDepth = 2827.076433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.076433 # Seafloor depth: -2877.076433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 77.760310 meters # Minimum depth: 2875.210966 meters looking forward 0.000000 meters along route # Maximum depth: 2875.210966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.210966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610991; longitude = -122.424255; captureRadius = 10; duration = 155; initialDepth = 2827.966197; finalDepth = 2825.210966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.210966 # Seafloor depth: -2875.210966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 81.604200 meters # Minimum depth: 2877.966197 meters looking forward 0.000000 meters along route # Maximum depth: 2877.966197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.966197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611211; longitude = -122.423429; captureRadius = 10; duration = 163; initialDepth = 2826.063707; finalDepth = 2827.966197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.966197 # Seafloor depth: -2877.966197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 76.315312 meters # Minimum depth: 2876.063707 meters looking forward 0.000000 meters along route # Maximum depth: 2876.063707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.063707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611442; longitude = -122.422563; captureRadius = 10; duration = 152; initialDepth = 2822.779805; finalDepth = 2826.063707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.063707 # Seafloor depth: -2876.063707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.223417 meters # Minimum depth: 2872.779805 meters looking forward 0.000000 meters along route # Maximum depth: 2872.779805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2822.779805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611657; longitude = -122.421752; captureRadius = 10; duration = 168; initialDepth = 2823.397032; finalDepth = 2822.779805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2822.779805 # Seafloor depth: -2872.779805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.223192 meters # Minimum depth: 2873.397032 meters looking forward 0.000000 meters along route # Maximum depth: 2873.397032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.397032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611896; longitude = -122.420858; captureRadius = 10; duration = 168; initialDepth = 2823.359380; finalDepth = 2823.397032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.397032 # Seafloor depth: -2873.397032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 78.543647 meters # Minimum depth: 2873.359380 meters looking forward 0.000000 meters along route # Maximum depth: 2873.359380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.359380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612134; longitude = -122.419964; captureRadius = 10; duration = 157; initialDepth = 2821.735901; finalDepth = 2823.359380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.35938 # Seafloor depth: -2873.359380 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 72.204105 meters # Minimum depth: 2871.735901 meters looking forward 0.000000 meters along route # Maximum depth: 2871.735901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2821.735901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612356; longitude = -122.419130; captureRadius = 10; duration = 144; # abortOnTimeout = True; initialDepth = 2822.916597; finalDepth = 2821.735901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2821.735901 # Seafloor depth: -2871.735901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 77.796047 meters # Minimum depth: 2872.916597 meters looking forward 0.000000 meters along route # Maximum depth: 2872.916597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2822.916597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612974; longitude = -122.419383; captureRadius = 10; duration = 155; initialDepth = 2826.343262; finalDepth = 2822.916597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2822.916597 # Seafloor depth: -2872.916597 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 60.585184 meters # Minimum depth: 2876.343262 meters looking forward 0.000000 meters along route # Maximum depth: 2876.343262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.343262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613640; longitude = -122.419656; captureRadius = 10; duration = 121; # abortOnTimeout = True; initialDepth = 2826.424516; finalDepth = 2826.343262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.343262 # Seafloor depth: -2876.343262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.252164 meters # Minimum depth: 2876.424516 meters looking forward 0.000000 meters along route # Maximum depth: 2876.424516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.424516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613469; longitude = -122.420299; captureRadius = 10; duration = 158; initialDepth = 2825.814346; finalDepth = 2826.424516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.424516 # Seafloor depth: -2876.424516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 78.663592 meters # Minimum depth: 2875.814346 meters looking forward 0.000000 meters along route # Maximum depth: 2875.814346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.814346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613245; longitude = -122.421141; captureRadius = 10; duration = 157; initialDepth = 2826.908878; finalDepth = 2825.814346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.814346 # Seafloor depth: -2875.814346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 80.701831 meters # Minimum depth: 2876.908878 meters looking forward 0.000000 meters along route # Maximum depth: 2876.908878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.908878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613022; longitude = -122.421976; captureRadius = 10; duration = 161; initialDepth = 2828.375424; finalDepth = 2826.908878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.908878 # Seafloor depth: -2876.908878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 77.214714 meters # Minimum depth: 2878.375424 meters looking forward 0.000000 meters along route # Maximum depth: 2878.375424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.375424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612794; longitude = -122.422833; captureRadius = 10; duration = 154; initialDepth = 2829.506629; finalDepth = 2828.375424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.375424 # Seafloor depth: -2878.375424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.222481 meters # Minimum depth: 2879.506629 meters looking forward 0.000000 meters along route # Maximum depth: 2879.506629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.506629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612575; longitude = -122.423653; captureRadius = 10; duration = 168; initialDepth = 2829.556482; finalDepth = 2829.506629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.506629 # Seafloor depth: -2879.506629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.222705 meters # Minimum depth: 2879.556482 meters looking forward 0.000000 meters along route # Maximum depth: 2879.556482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2829.556482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612337; longitude = -122.424547; captureRadius = 10; duration = 168; initialDepth = 2831.171316; finalDepth = 2829.556482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2829.556482 # Seafloor depth: -2879.556482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.222930 meters # Minimum depth: 2881.171316 meters looking forward 0.000000 meters along route # Maximum depth: 2881.171316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.171316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612099; longitude = -122.425441; captureRadius = 10; duration = 168; initialDepth = 2832.529796; finalDepth = 2831.171316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.171316 # Seafloor depth: -2881.171316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.471034 meters # Minimum depth: 2882.529796 meters looking forward 0.000000 meters along route # Maximum depth: 2882.529796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.529796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611861; longitude = -122.426335; captureRadius = 10; duration = 168; initialDepth = 2835.178895; finalDepth = 2832.529796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.529796 # Seafloor depth: -2882.529796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 83.975500 meters # Minimum depth: 2885.178895 meters looking forward 0.000000 meters along route # Maximum depth: 2885.178895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.178895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611622; longitude = -122.427232; captureRadius = 10; duration = 167; initialDepth = 2834.745357; finalDepth = 2835.178895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.178895 # Seafloor depth: -2885.178895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 75.392819 meters # Minimum depth: 2884.745357 meters looking forward 0.000000 meters along route # Maximum depth: 2884.745357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.745357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611384; longitude = -122.428124; captureRadius = 10; duration = 150; initialDepth = 2836.648764; finalDepth = 2834.745357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.745357 # Seafloor depth: -2884.745357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 82.526623 meters # Minimum depth: 2886.648764 meters looking forward 0.000000 meters along route # Maximum depth: 2886.648764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.648764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611171; longitude = -122.428924; captureRadius = 10; duration = 165; initialDepth = 2836.905468; finalDepth = 2836.648764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.648764 # Seafloor depth: -2886.648764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 76.842501 meters # Minimum depth: 2886.905468 meters looking forward 0.000000 meters along route # Maximum depth: 2886.905468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.905468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610938; longitude = -122.429801; captureRadius = 10; duration = 153; initialDepth = 2836.464047; finalDepth = 2836.905468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.905468 # Seafloor depth: -2886.905468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 81.077731 meters # Minimum depth: 2886.464047 meters looking forward 0.000000 meters along route # Maximum depth: 2886.464047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.464047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610720; longitude = -122.430616; captureRadius = 10; duration = 162; initialDepth = 2841.215444; finalDepth = 2836.464047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.464047 # Seafloor depth: -2886.464047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 78.292197 meters # Minimum depth: 2891.215444 meters looking forward 0.000000 meters along route # Maximum depth: 2891.215444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.215444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610491; longitude = -122.431477; captureRadius = 10; duration = 156; initialDepth = 2839.842139; finalDepth = 2841.215444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.215444 # Seafloor depth: -2891.215444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 79.628825 meters # Minimum depth: 2889.842139 meters looking forward 0.000000 meters along route # Maximum depth: 2889.842139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.842139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610270; longitude = -122.432308; captureRadius = 10; duration = 159; initialDepth = 2841.064987; finalDepth = 2839.842139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.842139 # Seafloor depth: -2889.842139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 79.741909 meters # Minimum depth: 2891.064987 meters looking forward 0.000000 meters along route # Maximum depth: 2891.064987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.064987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610045; longitude = -122.433154; captureRadius = 10; duration = 159; initialDepth = 2840.661113; finalDepth = 2841.064987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.064987 # Seafloor depth: -2891.064987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 78.179904 meters # Minimum depth: 2890.661113 meters looking forward 0.000000 meters along route # Maximum depth: 2890.661113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.661113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609819; longitude = -122.434001; captureRadius = 10; duration = 156; initialDepth = 2841.094643; finalDepth = 2840.661113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.661113 # Seafloor depth: -2890.661113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 81.191634 meters # Minimum depth: 2891.094643 meters looking forward 0.000000 meters along route # Maximum depth: 2891.094643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.094643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609598; longitude = -122.434831; captureRadius = 10; duration = 162; initialDepth = 2840.775166; finalDepth = 2841.094643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.094643 # Seafloor depth: -2891.094643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 76.730969 meters # Minimum depth: 2890.775166 meters looking forward 0.000000 meters along route # Maximum depth: 2890.775166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.775166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609368; longitude = -122.435693; captureRadius = 10; duration = 153; initialDepth = 2843.702047; finalDepth = 2840.775166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.775166 # Seafloor depth: -2890.775166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 82.641374 meters # Minimum depth: 2893.702047 meters looking forward 0.000000 meters along route # Maximum depth: 2893.702047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.702047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609151; longitude = -122.436507; captureRadius = 10; duration = 165; initialDepth = 2842.521309; finalDepth = 2843.702047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.702047 # Seafloor depth: -2893.702047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 75.282019 meters # Minimum depth: 2892.521309 meters looking forward 0.000000 meters along route # Maximum depth: 2892.521309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.521309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608918; longitude = -122.437385; captureRadius = 10; duration = 150; initialDepth = 2840.416539; finalDepth = 2842.521309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.521309 # Seafloor depth: -2892.521309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.226134 meters # Minimum depth: 2890.416539 meters looking forward 0.000000 meters along route # Maximum depth: 2890.416539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.416539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608705; longitude = -122.438184; captureRadius = 10; duration = 168; initialDepth = 2841.792152; finalDepth = 2840.416539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.416539 # Seafloor depth: -2890.416539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.226358 meters # Minimum depth: 2891.792152 meters looking forward 0.000000 meters along route # Maximum depth: 2891.792152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.792152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608466; longitude = -122.439078; captureRadius = 10; duration = 168; initialDepth = 2847.395308; finalDepth = 2841.792152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.792152 # Seafloor depth: -2891.792152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 75.012590 meters # Minimum depth: 2897.395308 meters looking forward 0.000000 meters along route # Maximum depth: 2897.395308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.395308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608228; longitude = -122.439972; captureRadius = 10; duration = 150; initialDepth = 2849.319757; finalDepth = 2847.395308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.395308 # Seafloor depth: -2897.395308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 82.912437 meters # Minimum depth: 2899.319757 meters looking forward 0.000000 meters along route # Maximum depth: 2899.319757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.319757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608016; longitude = -122.440769; captureRadius = 10; duration = 165; initialDepth = 2852.121128; finalDepth = 2849.319757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.319757 # Seafloor depth: -2899.319757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 76.462322 meters # Minimum depth: 2902.121128 meters looking forward 0.000000 meters along route # Maximum depth: 2902.121128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.121128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607782; longitude = -122.441649; captureRadius = 10; duration = 152; initialDepth = 2847.920178; finalDepth = 2852.121128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.121128 # Seafloor depth: -2902.121128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 81.463496 meters # Minimum depth: 2897.920178 meters looking forward 0.000000 meters along route # Maximum depth: 2897.920178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.920178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607565; longitude = -122.442461; captureRadius = 10; duration = 162; initialDepth = 2846.448012; finalDepth = 2847.920178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.920178 # Seafloor depth: -2897.920178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 77.912068 meters # Minimum depth: 2896.448012 meters looking forward 0.000000 meters along route # Maximum depth: 2896.448012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.448012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607335; longitude = -122.443326; captureRadius = 10; duration = 155; initialDepth = 2847.039020; finalDepth = 2846.448012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.448012 # Seafloor depth: -2896.448012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 80.014540 meters # Minimum depth: 2897.039020 meters looking forward 0.000000 meters along route # Maximum depth: 2897.039020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.039020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607115; longitude = -122.444153; captureRadius = 10; duration = 160; initialDepth = 2847.375886; finalDepth = 2847.039020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.03902 # Seafloor depth: -2897.039020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 79.361829 meters # Minimum depth: 2897.375886 meters looking forward 0.000000 meters along route # Maximum depth: 2897.375886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.375886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606888; longitude = -122.445003; captureRadius = 10; duration = 158; initialDepth = 2847.290572; finalDepth = 2847.375886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.375886 # Seafloor depth: -2897.375886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 78.565571 meters # Minimum depth: 2897.290572 meters looking forward 0.000000 meters along route # Maximum depth: 2897.290572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.290572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606664; longitude = -122.445845; captureRadius = 10; duration = 157; initialDepth = 2847.114128; finalDepth = 2847.290572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.290572 # Seafloor depth: -2897.290572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 80.811604 meters # Minimum depth: 2897.114128 meters looking forward 0.000000 meters along route # Maximum depth: 2897.114128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.114128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606442; longitude = -122.446679; captureRadius = 10; duration = 161; initialDepth = 2849.313390; finalDepth = 2847.114128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.114128 # Seafloor depth: -2897.114128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 77.116587 meters # Minimum depth: 2899.313390 meters looking forward 0.000000 meters along route # Maximum depth: 2899.313390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.313390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606213; longitude = -122.447537; captureRadius = 10; duration = 154; initialDepth = 2851.230325; finalDepth = 2849.313390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.31339 # Seafloor depth: -2899.313390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.228691 meters # Minimum depth: 2901.230325 meters looking forward 0.000000 meters along route # Maximum depth: 2901.230325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.230325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605995; longitude = -122.448356; captureRadius = 10; duration = 168; initialDepth = 2859.196027; finalDepth = 2851.230325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.230325 # Seafloor depth: -2901.230325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.228917 meters # Minimum depth: 2909.196027 meters looking forward 0.000000 meters along route # Maximum depth: 2909.196027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.196027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605757; longitude = -122.449250; captureRadius = 10; duration = 168; initialDepth = 2862.809140; finalDepth = 2859.196027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.196027 # Seafloor depth: -2909.196027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.229142 meters # Minimum depth: 2912.809140 meters looking forward 0.000000 meters along route # Maximum depth: 2912.809140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.809140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605519; longitude = -122.450144; captureRadius = 10; duration = 168; initialDepth = 2862.521855; finalDepth = 2862.809140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.80914 # Seafloor depth: -2912.809140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 84.581087 meters # Minimum depth: 2912.521855 meters looking forward 0.000000 meters along route # Maximum depth: 2912.521855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.521855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605280; longitude = -122.451039; captureRadius = 10; duration = 169; initialDepth = 2860.214388; finalDepth = 2862.521855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.521855 # Seafloor depth: -2912.521855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 83.877871 meters # Minimum depth: 2910.214388 meters looking forward 0.000000 meters along route # Maximum depth: 2910.214388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.214388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605041; longitude = -122.451937; captureRadius = 10; duration = 167; initialDepth = 2860.750754; finalDepth = 2860.214388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.214388 # Seafloor depth: -2910.214388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 76.759210 meters # Minimum depth: 2910.750754 meters looking forward 0.000000 meters along route # Maximum depth: 2910.750754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.750754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604804; longitude = -122.452827; captureRadius = 10; duration = 153; initialDepth = 2862.816772; finalDepth = 2860.750754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.750754 # Seafloor depth: -2910.750754 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 74.132682 meters # Minimum depth: 2912.816772 meters looking forward 0.000000 meters along route # Maximum depth: 2912.816772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.816772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604587; longitude = -122.453642; captureRadius = 10; duration = 148; # abortOnTimeout = True; initialDepth = 2864.940370; finalDepth = 2862.816772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.816772 # Seafloor depth: -2912.816772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.868199 meters # Minimum depth: 2914.940370 meters looking forward 0.000000 meters along route # Maximum depth: 2914.940370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.940370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605222; longitude = -122.453902; captureRadius = 10; duration = 151; initialDepth = 2865.718323; finalDepth = 2864.940370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.94037 # Seafloor depth: -2914.940370 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 57.240931 meters # Minimum depth: 2915.718323 meters looking forward 0.000000 meters along route # Maximum depth: 2915.718323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.718323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605871; longitude = -122.454168; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 2866.178613; finalDepth = 2865.718323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.718323 # Seafloor depth: -2915.718323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 79.589821 meters # Minimum depth: 2916.178613 meters looking forward 0.000000 meters along route # Maximum depth: 2916.178613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.178613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606033; longitude = -122.453560; captureRadius = 10; duration = 159; initialDepth = 2863.838811; finalDepth = 2866.178613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.178613 # Seafloor depth: -2916.178613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.787583 meters # Minimum depth: 2913.838811 meters looking forward 0.000000 meters along route # Maximum depth: 2913.838811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.838811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606258; longitude = -122.452715; captureRadius = 10; duration = 159; initialDepth = 2864.929367; finalDepth = 2863.838811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.838811 # Seafloor depth: -2913.838811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 78.140051 meters # Minimum depth: 2914.929367 meters looking forward 0.000000 meters along route # Maximum depth: 2914.929367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.929367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606484; longitude = -122.451868; captureRadius = 10; duration = 156; initialDepth = 2862.620919; finalDepth = 2864.929367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.929367 # Seafloor depth: -2914.929367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 81.236548 meters # Minimum depth: 2912.620919 meters looking forward 0.000000 meters along route # Maximum depth: 2912.620919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.620919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606705; longitude = -122.451039; captureRadius = 10; duration = 162; initialDepth = 2862.849746; finalDepth = 2862.620919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.620919 # Seafloor depth: -2912.620919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 76.690294 meters # Minimum depth: 2912.849746 meters looking forward 0.000000 meters along route # Maximum depth: 2912.849746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.849746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606934; longitude = -122.450176; captureRadius = 10; duration = 153; initialDepth = 2861.125742; finalDepth = 2862.849746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.849746 # Seafloor depth: -2912.849746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 82.685499 meters # Minimum depth: 2911.125742 meters looking forward 0.000000 meters along route # Maximum depth: 2911.125742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.125742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607151; longitude = -122.449362; captureRadius = 10; duration = 165; initialDepth = 2858.647907; finalDepth = 2861.125742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.125742 # Seafloor depth: -2911.125742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 75.240552 meters # Minimum depth: 2908.647907 meters looking forward 0.000000 meters along route # Maximum depth: 2908.647907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.647907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607385; longitude = -122.448484; captureRadius = 10; duration = 150; initialDepth = 2856.841353; finalDepth = 2858.647907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.647907 # Seafloor depth: -2908.647907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.226904 meters # Minimum depth: 2906.841353 meters looking forward 0.000000 meters along route # Maximum depth: 2906.841353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.841353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607598; longitude = -122.447685; captureRadius = 10; duration = 168; initialDepth = 2857.162880; finalDepth = 2856.841353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.841353 # Seafloor depth: -2906.841353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.226678 meters # Minimum depth: 2907.162880 meters looking forward 0.000000 meters along route # Maximum depth: 2907.162880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.162880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607836; longitude = -122.446791; captureRadius = 10; duration = 168; initialDepth = 2858.166336; finalDepth = 2857.162880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.16288 # Seafloor depth: -2907.162880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 75.055035 meters # Minimum depth: 2908.166336 meters looking forward 0.000000 meters along route # Maximum depth: 2908.166336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.166336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608074; longitude = -122.445897; captureRadius = 10; duration = 150; initialDepth = 2853.497047; finalDepth = 2858.166336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.166336 # Seafloor depth: -2908.166336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 82.869382 meters # Minimum depth: 2903.497047 meters looking forward 0.000000 meters along route # Maximum depth: 2903.497047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.497047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608287; longitude = -122.445100; captureRadius = 10; duration = 165; initialDepth = 2855.981012; finalDepth = 2853.497047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.497047 # Seafloor depth: -2903.497047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 76.503995 meters # Minimum depth: 2905.981012 meters looking forward 0.000000 meters along route # Maximum depth: 2905.981012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.981012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608521; longitude = -122.444220; captureRadius = 10; duration = 153; initialDepth = 2855.238673; finalDepth = 2855.981012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.981012 # Seafloor depth: -2905.981012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 81.419630 meters # Minimum depth: 2905.238673 meters looking forward 0.000000 meters along route # Maximum depth: 2905.238673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.238673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608737; longitude = -122.443408; captureRadius = 10; duration = 162; initialDepth = 2855.213543; finalDepth = 2855.238673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.238673 # Seafloor depth: -2905.238673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 77.952941 meters # Minimum depth: 2905.213543 meters looking forward 0.000000 meters along route # Maximum depth: 2905.213543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.213543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608968; longitude = -122.442543; captureRadius = 10; duration = 155; initialDepth = 2855.599268; finalDepth = 2855.213543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.213543 # Seafloor depth: -2905.213543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.969894 meters # Minimum depth: 2905.599268 meters looking forward 0.000000 meters along route # Maximum depth: 2905.599268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.599268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609188; longitude = -122.441716; captureRadius = 10; duration = 159; initialDepth = 2855.177556; finalDepth = 2855.599268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.599268 # Seafloor depth: -2905.599268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.401871 meters # Minimum depth: 2905.177556 meters looking forward 0.000000 meters along route # Maximum depth: 2905.177556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.177556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609414; longitude = -122.440867; captureRadius = 10; duration = 158; initialDepth = 2854.081425; finalDepth = 2855.177556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.177556 # Seafloor depth: -2905.177556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 78.520173 meters # Minimum depth: 2904.081425 meters looking forward 0.000000 meters along route # Maximum depth: 2904.081425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.081425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609639; longitude = -122.440024; captureRadius = 10; duration = 157; initialDepth = 2854.430697; finalDepth = 2854.081425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.081425 # Seafloor depth: -2904.081425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 80.850788 meters # Minimum depth: 2904.430697 meters looking forward 0.000000 meters along route # Maximum depth: 2904.430697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.430697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609861; longitude = -122.439190; captureRadius = 10; duration = 161; initialDepth = 2853.708673; finalDepth = 2854.430697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.430697 # Seafloor depth: -2904.430697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 77.070466 meters # Minimum depth: 2903.708673 meters looking forward 0.000000 meters along route # Maximum depth: 2903.708673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.708673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610089; longitude = -122.438332; captureRadius = 10; duration = 154; initialDepth = 2850.072272; finalDepth = 2853.708673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.708673 # Seafloor depth: -2903.708673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.224345 meters # Minimum depth: 2900.072272 meters looking forward 0.000000 meters along route # Maximum depth: 2900.072272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.072272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610307; longitude = -122.437513; captureRadius = 10; duration = 168; initialDepth = 2850.211447; finalDepth = 2850.072272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.072272 # Seafloor depth: -2900.072272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.224121 meters # Minimum depth: 2900.211447 meters looking forward 0.000000 meters along route # Maximum depth: 2900.211447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.211447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610546; longitude = -122.436619; captureRadius = 10; duration = 168; initialDepth = 2846.981116; finalDepth = 2850.211447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.211447 # Seafloor depth: -2900.211447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.223895 meters # Minimum depth: 2896.981116 meters looking forward 0.000000 meters along route # Maximum depth: 2896.981116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.981116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610784; longitude = -122.435725; captureRadius = 10; duration = 168; initialDepth = 2846.973609; finalDepth = 2846.981116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.981116 # Seafloor depth: -2896.981116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.617902 meters # Minimum depth: 2896.973609 meters looking forward 0.000000 meters along route # Maximum depth: 2896.973609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.973609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611022; longitude = -122.434831; captureRadius = 10; duration = 169; initialDepth = 2848.433315; finalDepth = 2846.973609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.973609 # Seafloor depth: -2896.973609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 83.829215 meters # Minimum depth: 2898.433315 meters looking forward 0.000000 meters along route # Maximum depth: 2898.433315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.433315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611261; longitude = -122.433932; captureRadius = 10; duration = 167; initialDepth = 2844.459548; finalDepth = 2848.433315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.433315 # Seafloor depth: -2898.433315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 75.538848 meters # Minimum depth: 2894.459548 meters looking forward 0.000000 meters along route # Maximum depth: 2894.459548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.459548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611498; longitude = -122.433042; captureRadius = 10; duration = 151; initialDepth = 2839.709184; finalDepth = 2844.459548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.459548 # Seafloor depth: -2894.459548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 82.379507 meters # Minimum depth: 2889.709184 meters looking forward 0.000000 meters along route # Maximum depth: 2889.709184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.709184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611712; longitude = -122.432240; captureRadius = 10; duration = 164; initialDepth = 2841.190241; finalDepth = 2839.709184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.709184 # Seafloor depth: -2889.709184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 76.987750 meters # Minimum depth: 2891.190241 meters looking forward 0.000000 meters along route # Maximum depth: 2891.190241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.190241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611945; longitude = -122.431365; captureRadius = 10; duration = 153; initialDepth = 2839.745696; finalDepth = 2841.190241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.190241 # Seafloor depth: -2891.190241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 80.929816 meters # Minimum depth: 2889.745696 meters looking forward 0.000000 meters along route # Maximum depth: 2889.745696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.745696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612163; longitude = -122.430548; captureRadius = 10; duration = 161; initialDepth = 2837.151670; finalDepth = 2839.745696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.745696 # Seafloor depth: -2889.745696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 78.436637 meters # Minimum depth: 2887.151670 meters looking forward 0.000000 meters along route # Maximum depth: 2887.151670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.151670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612392; longitude = -122.429689; captureRadius = 10; duration = 156; initialDepth = 2837.136364; finalDepth = 2837.151670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.15167 # Seafloor depth: -2887.151670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.480137 meters # Minimum depth: 2887.136364 meters looking forward 0.000000 meters along route # Maximum depth: 2887.136364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.136364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612613; longitude = -122.428856; captureRadius = 10; duration = 158; initialDepth = 2836.403201; finalDepth = 2837.136364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.136364 # Seafloor depth: -2887.136364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.885511 meters # Minimum depth: 2886.403201 meters looking forward 0.000000 meters along route # Maximum depth: 2886.403201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.403201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612838; longitude = -122.428012; captureRadius = 10; duration = 159; initialDepth = 2835.220082; finalDepth = 2836.403201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.403201 # Seafloor depth: -2886.403201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 78.030474 meters # Minimum depth: 2885.220082 meters looking forward 0.000000 meters along route # Maximum depth: 2885.220082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.220082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613064; longitude = -122.427164; captureRadius = 10; duration = 156; initialDepth = 2833.573491; finalDepth = 2835.220082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.220082 # Seafloor depth: -2885.220082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 81.334370 meters # Minimum depth: 2883.573491 meters looking forward 0.000000 meters along route # Maximum depth: 2883.573491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.573491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613285; longitude = -122.426335; captureRadius = 10; duration = 162; initialDepth = 2833.440723; finalDepth = 2833.573491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.573491 # Seafloor depth: -2883.573491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 76.580825 meters # Minimum depth: 2883.440723 meters looking forward 0.000000 meters along route # Maximum depth: 2883.440723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2833.440723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613515; longitude = -122.425472; captureRadius = 10; duration = 153; initialDepth = 2830.347000; finalDepth = 2833.440723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2833.440723 # Seafloor depth: -2883.440723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.221115 meters # Minimum depth: 2880.347000 meters looking forward 0.000000 meters along route # Maximum depth: 2880.347000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.347000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613732; longitude = -122.424659; captureRadius = 10; duration = 168; initialDepth = 2830.793435; finalDepth = 2830.347000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.347 # Seafloor depth: -2880.347000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.220889 meters # Minimum depth: 2880.793435 meters looking forward 0.000000 meters along route # Maximum depth: 2880.793435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.793435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613970; longitude = -122.423764; captureRadius = 10; duration = 168; initialDepth = 2828.928281; finalDepth = 2830.793435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.793435 # Seafloor depth: -2880.793435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 84.220665 meters # Minimum depth: 2878.928281 meters looking forward 0.000000 meters along route # Maximum depth: 2878.928281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.928281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614208; longitude = -122.422870; captureRadius = 10; duration = 168; initialDepth = 2828.496605; finalDepth = 2828.928281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.928281 # Seafloor depth: -2878.928281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 85.101334 meters # Minimum depth: 2878.496605 meters looking forward 0.000000 meters along route # Maximum depth: 2878.496605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.496605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614446; longitude = -122.421976; captureRadius = 10; duration = 170; initialDepth = 2827.327104; finalDepth = 2828.496605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.496605 # Seafloor depth: -2878.496605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 83.856738 meters # Minimum depth: 2877.327104 meters looking forward 0.000000 meters along route # Maximum depth: 2877.327104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.327104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614687; longitude = -122.421072; captureRadius = 10; duration = 167; initialDepth = 2825.488586; finalDepth = 2827.327104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.327104 # Seafloor depth: -2877.327104 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 125.306033 meters # Minimum depth: 2875.488586 meters looking forward 0.000000 meters along route # Maximum depth: 2875.488586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.488586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614924; longitude = -122.420182; captureRadius = 10; duration = 250; # abortOnTimeout = True; initialDepth = 2827.477412; finalDepth = 2825.488586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.488586 # Seafloor depth: -2875.488586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 83.196336 meters # Minimum depth: 2877.477412 meters looking forward 0.000000 meters along route # Maximum depth: 2877.477412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.477412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.615236; longitude = -122.421529; captureRadius = 10; duration = 166; initialDepth = 2830.500766; finalDepth = 2827.477412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.477412 # Seafloor depth: -2877.477412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 76.561085 meters # Minimum depth: 2880.500766 meters looking forward 0.000000 meters along route # Maximum depth: 2880.500766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2830.500766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.615443; longitude = -122.422423; captureRadius = 10; duration = 153; initialDepth = 2823.616333; finalDepth = 2830.500766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2830.500766 # Seafloor depth: -2880.500766 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 110.234455 meters # Minimum depth: 2873.616333 meters looking forward 0.000000 meters along route # Maximum depth: 2873.616333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.616333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.615633; longitude = -122.423246; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 2826.640436; finalDepth = 2823.616333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.616333 # Seafloor depth: -2873.616333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.670035 meters # Minimum depth: 2876.640436 meters looking forward 0.000000 meters along route # Maximum depth: 2876.640436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2826.640436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.615318; longitude = -122.424415; captureRadius = 10; duration = 151; initialDepth = 2832.933323; finalDepth = 2826.640436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2826.640436 # Seafloor depth: -2876.640436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.984403 meters # Minimum depth: 2882.933323 meters looking forward 0.000000 meters along route # Maximum depth: 2882.933323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.933323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.615102; longitude = -122.425218; captureRadius = 10; duration = 163; initialDepth = 2832.842489; finalDepth = 2832.933323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.933323 # Seafloor depth: -2882.933323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 76.116308 meters # Minimum depth: 2882.842489 meters looking forward 0.000000 meters along route # Maximum depth: 2882.842489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.842489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614867; longitude = -122.426087; captureRadius = 10; duration = 152; initialDepth = 2835.312585; finalDepth = 2832.842489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.842489 # Seafloor depth: -2882.842489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.538924 meters # Minimum depth: 2885.312585 meters looking forward 0.000000 meters along route # Maximum depth: 2885.312585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.312585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614650; longitude = -122.426894; captureRadius = 10; duration = 163; initialDepth = 2835.848288; finalDepth = 2835.312585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.312585 # Seafloor depth: -2885.312585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 76.562586 meters # Minimum depth: 2885.848288 meters looking forward 0.000000 meters along route # Maximum depth: 2885.848288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.848288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614416; longitude = -122.427759; captureRadius = 10; duration = 153; initialDepth = 2836.010626; finalDepth = 2835.848288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.848288 # Seafloor depth: -2885.848288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.093442 meters # Minimum depth: 2886.010626 meters looking forward 0.000000 meters along route # Maximum depth: 2886.010626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2836.010626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614198; longitude = -122.428571; captureRadius = 10; duration = 162; initialDepth = 2839.700951; finalDepth = 2836.010626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2836.010626 # Seafloor depth: -2886.010626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 77.008867 meters # Minimum depth: 2889.700951 meters looking forward 0.000000 meters along route # Maximum depth: 2889.700951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2839.700951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613966; longitude = -122.429431; captureRadius = 10; duration = 154; initialDepth = 2840.943633; finalDepth = 2839.700951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2839.700951 # Seafloor depth: -2889.700951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 80.647954 meters # Minimum depth: 2890.943633 meters looking forward 0.000000 meters along route # Maximum depth: 2890.943633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.943633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613746; longitude = -122.430248; captureRadius = 10; duration = 161; initialDepth = 2840.443896; finalDepth = 2840.943633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.943633 # Seafloor depth: -2890.943633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 77.455153 meters # Minimum depth: 2890.443896 meters looking forward 0.000000 meters along route # Maximum depth: 2890.443896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.443896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613515; longitude = -122.431103; captureRadius = 10; duration = 154; initialDepth = 2843.402493; finalDepth = 2840.443896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.443896 # Seafloor depth: -2890.443896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 80.202463 meters # Minimum depth: 2893.402493 meters looking forward 0.000000 meters along route # Maximum depth: 2893.402493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.402493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613294; longitude = -122.431924; captureRadius = 10; duration = 160; initialDepth = 2844.260716; finalDepth = 2843.402493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.402493 # Seafloor depth: -2893.402493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 77.901444 meters # Minimum depth: 2894.260716 meters looking forward 0.000000 meters along route # Maximum depth: 2894.260716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.260716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613064; longitude = -122.432775; captureRadius = 10; duration = 155; initialDepth = 2846.305885; finalDepth = 2844.260716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.260716 # Seafloor depth: -2894.260716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 79.756967 meters # Minimum depth: 2896.305885 meters looking forward 0.000000 meters along route # Maximum depth: 2896.305885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.305885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612842; longitude = -122.433601; captureRadius = 10; duration = 159; initialDepth = 2845.791647; finalDepth = 2846.305885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.305885 # Seafloor depth: -2896.305885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 78.347739 meters # Minimum depth: 2895.791647 meters looking forward 0.000000 meters along route # Maximum depth: 2895.791647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2845.791647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612613; longitude = -122.434447; captureRadius = 10; duration = 156; initialDepth = 2847.179788; finalDepth = 2845.791647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2845.791647 # Seafloor depth: -2895.791647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 79.311466 meters # Minimum depth: 2897.179788 meters looking forward 0.000000 meters along route # Maximum depth: 2897.179788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.179788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612389; longitude = -122.435278; captureRadius = 10; duration = 158; initialDepth = 2847.326000; finalDepth = 2847.179788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.179788 # Seafloor depth: -2897.179788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 78.794040 meters # Minimum depth: 2897.326000 meters looking forward 0.000000 meters along route # Maximum depth: 2897.326000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.326000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612163; longitude = -122.436119; captureRadius = 10; duration = 157; initialDepth = 2850.082586; finalDepth = 2847.326000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.326 # Seafloor depth: -2897.326000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 78.865961 meters # Minimum depth: 2900.082586 meters looking forward 0.000000 meters along route # Maximum depth: 2900.082586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.082586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611937; longitude = -122.436954; captureRadius = 10; duration = 157; initialDepth = 2850.782886; finalDepth = 2850.082586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.082586 # Seafloor depth: -2900.082586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 79.240343 meters # Minimum depth: 2900.782886 meters looking forward 0.000000 meters along route # Maximum depth: 2900.782886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.782886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611712; longitude = -122.437791; captureRadius = 10; duration = 158; initialDepth = 2849.738102; finalDepth = 2850.782886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.782886 # Seafloor depth: -2900.782886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 78.420452 meters # Minimum depth: 2899.738102 meters looking forward 0.000000 meters along route # Maximum depth: 2899.738102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.738102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611485; longitude = -122.438631; captureRadius = 10; duration = 156; initialDepth = 2852.693000; finalDepth = 2849.738102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.738102 # Seafloor depth: -2899.738102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 79.686653 meters # Minimum depth: 2902.693000 meters looking forward 0.000000 meters along route # Maximum depth: 2902.693000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.693000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611261; longitude = -122.439463; captureRadius = 10; duration = 159; initialDepth = 2854.330961; finalDepth = 2852.693000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.693 # Seafloor depth: -2902.693000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 77.974937 meters # Minimum depth: 2904.330961 meters looking forward 0.000000 meters along route # Maximum depth: 2904.330961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.330961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611033; longitude = -122.440308; captureRadius = 10; duration = 155; initialDepth = 2855.499870; finalDepth = 2854.330961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.330961 # Seafloor depth: -2904.330961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 80.132966 meters # Minimum depth: 2905.499870 meters looking forward 0.000000 meters along route # Maximum depth: 2905.499870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.499870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610811; longitude = -122.441135; captureRadius = 10; duration = 160; initialDepth = 2856.180346; finalDepth = 2855.499870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.49987 # Seafloor depth: -2905.499870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 77.529419 meters # Minimum depth: 2906.180346 meters looking forward 0.000000 meters along route # Maximum depth: 2906.180346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.180346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610581; longitude = -122.441984; captureRadius = 10; duration = 155; initialDepth = 2855.407247; finalDepth = 2856.180346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.180346 # Seafloor depth: -2906.180346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 80.579284 meters # Minimum depth: 2905.407247 meters looking forward 0.000000 meters along route # Maximum depth: 2905.407247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2855.407247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610360; longitude = -122.442807; captureRadius = 10; duration = 161; initialDepth = 2857.664777; finalDepth = 2855.407247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2855.407247 # Seafloor depth: -2905.407247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 77.083896 meters # Minimum depth: 2907.664777 meters looking forward 0.000000 meters along route # Maximum depth: 2907.664777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.664777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610129; longitude = -122.443661; captureRadius = 10; duration = 154; initialDepth = 2857.676888; finalDepth = 2857.664777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.664777 # Seafloor depth: -2907.664777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.025607 meters # Minimum depth: 2907.676888 meters looking forward 0.000000 meters along route # Maximum depth: 2907.676888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.676888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609909; longitude = -122.444479; captureRadius = 10; duration = 162; initialDepth = 2859.975845; finalDepth = 2857.676888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.676888 # Seafloor depth: -2907.676888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 76.638369 meters # Minimum depth: 2909.975845 meters looking forward 0.000000 meters along route # Maximum depth: 2909.975845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.975845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609677; longitude = -122.445338; captureRadius = 10; duration = 153; initialDepth = 2863.078881; finalDepth = 2859.975845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.975845 # Seafloor depth: -2909.975845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.471934 meters # Minimum depth: 2913.078881 meters looking forward 0.000000 meters along route # Maximum depth: 2913.078881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.078881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609458; longitude = -122.446151; captureRadius = 10; duration = 162; initialDepth = 2864.934891; finalDepth = 2863.078881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.078881 # Seafloor depth: -2913.078881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 76.192836 meters # Minimum depth: 2914.934891 meters looking forward 0.000000 meters along route # Maximum depth: 2914.934891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.934891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609225; longitude = -122.447015; captureRadius = 10; duration = 152; initialDepth = 2863.582802; finalDepth = 2864.934891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.934891 # Seafloor depth: -2914.934891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 81.918266 meters # Minimum depth: 2913.582802 meters looking forward 0.000000 meters along route # Maximum depth: 2913.582802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.582802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609008; longitude = -122.447823; captureRadius = 10; duration = 163; initialDepth = 2865.025947; finalDepth = 2863.582802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.582802 # Seafloor depth: -2913.582802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 75.747300 meters # Minimum depth: 2915.025947 meters looking forward 0.000000 meters along route # Maximum depth: 2915.025947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2865.025947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608773; longitude = -122.448691; captureRadius = 10; duration = 151; initialDepth = 2867.754062; finalDepth = 2865.025947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2865.025947 # Seafloor depth: -2915.025947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 82.364602 meters # Minimum depth: 2917.754062 meters looking forward 0.000000 meters along route # Maximum depth: 2917.754062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2867.754062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608557; longitude = -122.449494; captureRadius = 10; duration = 164; initialDepth = 2868.243512; finalDepth = 2867.754062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2867.754062 # Seafloor depth: -2917.754062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 75.301760 meters # Minimum depth: 2918.243512 meters looking forward 0.000000 meters along route # Maximum depth: 2918.243512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.243512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608321; longitude = -122.450368; captureRadius = 10; duration = 150; initialDepth = 2868.779789; finalDepth = 2868.243512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.243512 # Seafloor depth: -2918.243512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 82.810943 meters # Minimum depth: 2918.779789 meters looking forward 0.000000 meters along route # Maximum depth: 2918.779789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.779789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608106; longitude = -122.451166; captureRadius = 10; duration = 165; initialDepth = 2870.208517; finalDepth = 2868.779789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.779789 # Seafloor depth: -2918.779789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 84.327101 meters # Minimum depth: 2920.208517 meters looking forward 0.000000 meters along route # Maximum depth: 2920.208517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.208517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607869; longitude = -122.452045; captureRadius = 10; duration = 168; initialDepth = 2868.892852; finalDepth = 2870.208517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.208517 # Seafloor depth: -2920.208517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 85.129789 meters # Minimum depth: 2918.892852 meters looking forward 0.000000 meters along route # Maximum depth: 2918.892852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.892852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607628; longitude = -122.452939; captureRadius = 10; duration = 170; initialDepth = 2870.653401; finalDepth = 2868.892852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.892852 # Seafloor depth: -2918.892852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 80.476616 meters # Minimum depth: 2920.653401 meters looking forward 0.000000 meters along route # Maximum depth: 2920.653401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.653401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607385; longitude = -122.453842; captureRadius = 10; duration = 160; initialDepth = 2872.982300; finalDepth = 2870.653401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.653401 # Seafloor depth: -2920.653401 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 104.773671 meters # Minimum depth: 2922.982300 meters looking forward 0.000000 meters along route # Maximum depth: 2922.982300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.982300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607155; longitude = -122.454695; captureRadius = 10; duration = 209; # abortOnTimeout = True; initialDepth = 2870.195709; finalDepth = 2872.982300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.9823 # Seafloor depth: -2922.982300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.981429 meters # Minimum depth: 2920.195709 meters looking forward 0.000000 meters along route # Maximum depth: 2920.195709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.195709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607680; longitude = -122.453721; captureRadius = 10; duration = 169; initialDepth = 2869.586668; finalDepth = 2870.195709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.195709 # Seafloor depth: -2920.195709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 80.547740 meters # Minimum depth: 2919.586668 meters looking forward 0.000000 meters along route # Maximum depth: 2919.586668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.586668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608106; longitude = -122.452932; captureRadius = 10; duration = 161; initialDepth = 2870.199341; finalDepth = 2869.586668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.586668 # Seafloor depth: -2919.586668 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 120.503771 meters # Minimum depth: 2920.199341 meters looking forward 0.000000 meters along route # Maximum depth: 2920.199341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.199341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608510; longitude = -122.452183; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 2869.238243; finalDepth = 2870.199341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.199341 # Seafloor depth: -2920.199341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.426088 meters # Minimum depth: 2919.238243 meters looking forward 0.000000 meters along route # Maximum depth: 2919.238243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.238243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607475; longitude = -122.451773; captureRadius = 10; duration = 168; initialDepth = 2864.583437; finalDepth = 2869.238243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.238243 # Seafloor depth: -2919.238243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.535293 meters # Minimum depth: 2914.583437 meters looking forward 0.000000 meters along route # Maximum depth: 2914.583437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2864.583437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606750; longitude = -122.451486; captureRadius = 10; duration = 167; initialDepth = 2861.021466; finalDepth = 2864.583437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2864.583437 # Seafloor depth: -2914.583437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.980790 meters # Minimum depth: 2911.021466 meters looking forward 0.000000 meters along route # Maximum depth: 2911.021466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.021466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606033; longitude = -122.451201; captureRadius = 10; duration = 167; initialDepth = 2861.927132; finalDepth = 2861.021466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.021466 # Seafloor depth: -2911.021466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.980855 meters # Minimum depth: 2911.927132 meters looking forward 0.000000 meters along route # Maximum depth: 2911.927132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.927132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605312; longitude = -122.450916; captureRadius = 10; duration = 167; initialDepth = 2860.282044; finalDepth = 2861.927132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.927132 # Seafloor depth: -2911.927132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 77.024478 meters # Minimum depth: 2910.282044 meters looking forward 0.000000 meters along route # Maximum depth: 2910.282044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.282044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604591; longitude = -122.450630; captureRadius = 10; duration = 154; initialDepth = 2858.059844; finalDepth = 2860.282044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.282044 # Seafloor depth: -2910.282044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 80.439803 meters # Minimum depth: 2908.059844 meters looking forward 0.000000 meters along route # Maximum depth: 2908.059844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.059844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603929; longitude = -122.450368; captureRadius = 10; duration = 160; initialDepth = 2857.546740; finalDepth = 2858.059844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.059844 # Seafloor depth: -2908.059844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981044 meters # Minimum depth: 2907.546740 meters looking forward 0.000000 meters along route # Maximum depth: 2907.546740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2857.546740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603238; longitude = -122.450094; captureRadius = 10; duration = 167; initialDepth = 2859.214663; finalDepth = 2857.546740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2857.54674 # Seafloor depth: -2907.546740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981110 meters # Minimum depth: 2909.214663 meters looking forward 0.000000 meters along route # Maximum depth: 2909.214663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.214663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602517; longitude = -122.449808; captureRadius = 10; duration = 167; initialDepth = 2868.620565; finalDepth = 2859.214663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.214663 # Seafloor depth: -2909.214663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981176 meters # Minimum depth: 2918.620565 meters looking forward 0.000000 meters along route # Maximum depth: 2918.620565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.620565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601796; longitude = -122.449523; captureRadius = 10; duration = 167; initialDepth = 2872.429194; finalDepth = 2868.620565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.620565 # Seafloor depth: -2918.620565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981242 meters # Minimum depth: 2922.429194 meters looking forward 0.000000 meters along route # Maximum depth: 2922.429194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.429194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601075; longitude = -122.449237; captureRadius = 10; duration = 167; initialDepth = 2873.111284; finalDepth = 2872.429194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.429194 # Seafloor depth: -2922.429194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 76.419637 meters # Minimum depth: 2923.111284 meters looking forward 0.000000 meters along route # Maximum depth: 2923.111284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.111284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600354; longitude = -122.448951; captureRadius = 10; duration = 152; initialDepth = 2872.678100; finalDepth = 2873.111284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.111284 # Seafloor depth: -2923.111284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 81.045369 meters # Minimum depth: 2922.678100 meters looking forward 0.000000 meters along route # Maximum depth: 2922.678100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.678100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599697; longitude = -122.448691; captureRadius = 10; duration = 162; initialDepth = 2870.969831; finalDepth = 2872.678100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.6781 # Seafloor depth: -2922.678100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981431 meters # Minimum depth: 2920.969831 meters looking forward 0.000000 meters along route # Maximum depth: 2920.969831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2870.969831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599002; longitude = -122.448415; captureRadius = 10; duration = 167; initialDepth = 2874.618405; finalDepth = 2870.969831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2870.969831 # Seafloor depth: -2920.969831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981497 meters # Minimum depth: 2924.618405 meters looking forward 0.000000 meters along route # Maximum depth: 2924.618405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.618405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598280; longitude = -122.448130; captureRadius = 10; duration = 167; initialDepth = 2875.797742; finalDepth = 2874.618405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.618405 # Seafloor depth: -2924.618405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981563 meters # Minimum depth: 2925.797742 meters looking forward 0.000000 meters along route # Maximum depth: 2925.797742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.797742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597559; longitude = -122.447844; captureRadius = 10; duration = 167; initialDepth = 2869.708735; finalDepth = 2875.797742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.797742 # Seafloor depth: -2925.797742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981628 meters # Minimum depth: 2919.708735 meters looking forward 0.000000 meters along route # Maximum depth: 2919.708735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.708735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596838; longitude = -122.447558; captureRadius = 10; duration = 167; initialDepth = 2871.755201; finalDepth = 2869.708735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.708735 # Seafloor depth: -2919.708735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 75.814790 meters # Minimum depth: 2921.755201 meters looking forward 0.000000 meters along route # Maximum depth: 2921.755201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.755201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596117; longitude = -122.447273; captureRadius = 10; duration = 151; initialDepth = 2873.657675; finalDepth = 2871.755201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.755201 # Seafloor depth: -2921.755201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 81.650941 meters # Minimum depth: 2923.657675 meters looking forward 0.000000 meters along route # Maximum depth: 2923.657675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.657675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595466; longitude = -122.447015; captureRadius = 10; duration = 163; initialDepth = 2874.954581; finalDepth = 2873.657675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.657675 # Seafloor depth: -2923.657675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981817 meters # Minimum depth: 2924.954581 meters looking forward 0.000000 meters along route # Maximum depth: 2924.954581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.954581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594765; longitude = -122.446737; captureRadius = 10; duration = 167; initialDepth = 2875.893423; finalDepth = 2874.954581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.954581 # Seafloor depth: -2924.954581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981884 meters # Minimum depth: 2925.893423 meters looking forward 0.000000 meters along route # Maximum depth: 2925.893423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.893423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594044; longitude = -122.446451; captureRadius = 10; duration = 167; initialDepth = 2876.506133; finalDepth = 2875.893423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.893423 # Seafloor depth: -2925.893423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.981949 meters # Minimum depth: 2926.506133 meters looking forward 0.000000 meters along route # Maximum depth: 2926.506133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2876.506133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593322; longitude = -122.446165; captureRadius = 10; duration = 167; initialDepth = 2878.228703; finalDepth = 2876.506133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2876.506133 # Seafloor depth: -2926.506133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.982015 meters # Minimum depth: 2928.228703 meters looking forward 0.000000 meters along route # Maximum depth: 2928.228703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.228703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592601; longitude = -122.445880; captureRadius = 10; duration = 167; initialDepth = 2878.606031; finalDepth = 2878.228703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.228703 # Seafloor depth: -2928.228703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 75.209938 meters # Minimum depth: 2928.606031 meters looking forward 0.000000 meters along route # Maximum depth: 2928.606031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.606031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591880; longitude = -122.445594; captureRadius = 10; duration = 150; initialDepth = 2878.090202; finalDepth = 2878.606031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.606031 # Seafloor depth: -2928.606031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 82.256518 meters # Minimum depth: 2928.090202 meters looking forward 0.000000 meters along route # Maximum depth: 2928.090202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.090202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591234; longitude = -122.445338; captureRadius = 10; duration = 164; initialDepth = 2878.579138; finalDepth = 2878.090202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.090202 # Seafloor depth: -2928.090202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.982204 meters # Minimum depth: 2928.579138 meters looking forward 0.000000 meters along route # Maximum depth: 2928.579138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.579138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590528; longitude = -122.445058; captureRadius = 10; duration = 167; initialDepth = 2879.216056; finalDepth = 2878.579138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.579138 # Seafloor depth: -2928.579138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.982270 meters # Minimum depth: 2929.216056 meters looking forward 0.000000 meters along route # Maximum depth: 2929.216056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.216056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589807; longitude = -122.444772; captureRadius = 10; duration = 167; initialDepth = 2879.679921; finalDepth = 2879.216056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.216056 # Seafloor depth: -2929.216056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 78.305962 meters # Minimum depth: 2929.679921 meters looking forward 0.000000 meters along route # Maximum depth: 2929.679921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.679921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589086; longitude = -122.444486; captureRadius = 10; duration = 156; initialDepth = 2881.092025; finalDepth = 2879.679921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.679921 # Seafloor depth: -2929.679921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 79.160972 meters # Minimum depth: 2931.092025 meters looking forward 0.000000 meters along route # Maximum depth: 2931.092025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2881.092025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588413; longitude = -122.444220; captureRadius = 10; duration = 158; initialDepth = 2880.411809; finalDepth = 2881.092025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2881.092025 # Seafloor depth: -2931.092025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 85.102883 meters # Minimum depth: 2930.411809 meters looking forward 0.000000 meters along route # Maximum depth: 2930.411809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2880.411809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587733; longitude = -122.443951; captureRadius = 10; duration = 170; initialDepth = 2881.780602; finalDepth = 2880.411809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2880.411809 # Seafloor depth: -2930.411809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 82.862102 meters # Minimum depth: 2931.780602 meters looking forward 0.000000 meters along route # Maximum depth: 2931.780602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2881.780602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587003; longitude = -122.443661; captureRadius = 10; duration = 165; initialDepth = 2881.882845; finalDepth = 2881.780602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2881.780602 # Seafloor depth: -2931.780602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.982591 meters # Minimum depth: 2931.882845 meters looking forward 0.000000 meters along route # Maximum depth: 2931.882845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2881.882845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586291; longitude = -122.443379; captureRadius = 10; duration = 167; initialDepth = 2883.764488; finalDepth = 2881.882845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2881.882845 # Seafloor depth: -2931.882845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 76.266078 meters # Minimum depth: 2933.764488 meters looking forward 0.000000 meters along route # Maximum depth: 2933.764488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2883.764488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585570; longitude = -122.443093; captureRadius = 10; duration = 152; initialDepth = 2884.630249; finalDepth = 2883.764488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2883.764488 # Seafloor depth: -2933.764488 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 97.966183 meters # Minimum depth: 2934.630249 meters looking forward 0.000000 meters along route # Maximum depth: 2934.630249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2884.630249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.584915; longitude = -122.442834; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 2881.763953; finalDepth = 2884.630249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2884.630249 # Seafloor depth: -2934.630249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.739565 meters # Minimum depth: 2931.763953 meters looking forward 0.000000 meters along route # Maximum depth: 2931.763953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2881.763953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585338; longitude = -122.441873; captureRadius = 10; duration = 159; initialDepth = 2878.357532; finalDepth = 2881.763953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2881.763953 # Seafloor depth: -2931.763953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 79.739300 meters # Minimum depth: 2928.357532 meters looking forward 0.000000 meters along route # Maximum depth: 2928.357532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2878.357532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.585682; longitude = -122.441090; captureRadius = 10; duration = 159; initialDepth = 2879.149979; finalDepth = 2878.357532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2878.357532 # Seafloor depth: -2928.357532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 82.129325 meters # Minimum depth: 2929.149979 meters looking forward 0.000000 meters along route # Maximum depth: 2929.149979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2879.149979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586027; longitude = -122.440308; captureRadius = 10; duration = 164; initialDepth = 2877.572679; finalDepth = 2879.149979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2879.149979 # Seafloor depth: -2929.149979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 77.348481 meters # Minimum depth: 2927.572679 meters looking forward 0.000000 meters along route # Maximum depth: 2927.572679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2877.572679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586381; longitude = -122.439502; captureRadius = 10; duration = 154; initialDepth = 2875.073505; finalDepth = 2877.572679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2877.572679 # Seafloor depth: -2927.572679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 79.738505 meters # Minimum depth: 2925.073505 meters looking forward 0.000000 meters along route # Maximum depth: 2925.073505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2875.073505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.586715; longitude = -122.438743; captureRadius = 10; duration = 159; initialDepth = 2874.746968; finalDepth = 2875.073505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2875.073505 # Seafloor depth: -2925.073505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 79.738241 meters # Minimum depth: 2924.746968 meters looking forward 0.000000 meters along route # Maximum depth: 2924.746968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2874.746968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587059; longitude = -122.437960; captureRadius = 10; duration = 159; initialDepth = 2873.624722; finalDepth = 2874.746968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2874.746968 # Seafloor depth: -2924.746968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 79.737976 meters # Minimum depth: 2923.624722 meters looking forward 0.000000 meters along route # Maximum depth: 2923.624722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.624722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587404; longitude = -122.437178; captureRadius = 10; duration = 159; initialDepth = 2872.908633; finalDepth = 2873.624722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.624722 # Seafloor depth: -2923.624722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 80.106911 meters # Minimum depth: 2922.908633 meters looking forward 0.000000 meters along route # Maximum depth: 2922.908633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2872.908633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.587748; longitude = -122.436396; captureRadius = 10; duration = 160; initialDepth = 2873.098280; finalDepth = 2872.908633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2872.908633 # Seafloor depth: -2922.908633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 83.508662 meters # Minimum depth: 2923.098280 meters looking forward 0.000000 meters along route # Maximum depth: 2923.098280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2873.098280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588094; longitude = -122.435609; captureRadius = 10; duration = 167; initialDepth = 2871.816943; finalDepth = 2873.098280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2873.09828 # Seafloor depth: -2923.098280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 75.596764 meters # Minimum depth: 2921.816943 meters looking forward 0.000000 meters along route # Maximum depth: 2921.816943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2871.816943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588455; longitude = -122.434790; captureRadius = 10; duration = 151; initialDepth = 2869.310119; finalDepth = 2871.816943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2871.816943 # Seafloor depth: -2921.816943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 79.736916 meters # Minimum depth: 2919.310119 meters looking forward 0.000000 meters along route # Maximum depth: 2919.310119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2869.310119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.588781; longitude = -122.434048; captureRadius = 10; duration = 159; initialDepth = 2868.087439; finalDepth = 2869.310119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2869.310119 # Seafloor depth: -2919.310119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 79.736651 meters # Minimum depth: 2918.087439 meters looking forward 0.000000 meters along route # Maximum depth: 2918.087439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2868.087439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589125; longitude = -122.433266; captureRadius = 10; duration = 159; initialDepth = 2866.921552; finalDepth = 2868.087439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2868.087439 # Seafloor depth: -2918.087439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 79.305486 meters # Minimum depth: 2916.921552 meters looking forward 0.000000 meters along route # Maximum depth: 2916.921552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.921552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589470; longitude = -122.432483; captureRadius = 10; duration = 158; initialDepth = 2866.642883; finalDepth = 2866.921552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.921552 # Seafloor depth: -2916.921552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 123.136010 meters # Minimum depth: 2916.642883 meters looking forward 0.000000 meters along route # Maximum depth: 2916.642883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.642883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.589812; longitude = -122.431705; captureRadius = 10; duration = 246; # abortOnTimeout = True; initialDepth = 2866.650753; finalDepth = 2866.642883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.642883 # Seafloor depth: -2916.642883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 81.832520 meters # Minimum depth: 2916.650753 meters looking forward 0.000000 meters along route # Maximum depth: 2916.650753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.650753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590046; longitude = -122.430359; captureRadius = 10; duration = 163; initialDepth = 2863.431492; finalDepth = 2866.650753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.650753 # Seafloor depth: -2916.650753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.832371 meters # Minimum depth: 2913.431492 meters looking forward 0.000000 meters along route # Maximum depth: 2913.431492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.431492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590202; longitude = -122.429465; captureRadius = 10; duration = 163; initialDepth = 2861.108522; finalDepth = 2863.431492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.431492 # Seafloor depth: -2913.431492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.832223 meters # Minimum depth: 2911.108522 meters looking forward 0.000000 meters along route # Maximum depth: 2911.108522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.108522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590357; longitude = -122.428571; captureRadius = 10; duration = 163; initialDepth = 2861.140024; finalDepth = 2861.108522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.108522 # Seafloor depth: -2911.108522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.832075 meters # Minimum depth: 2911.140024 meters looking forward 0.000000 meters along route # Maximum depth: 2911.140024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.140024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590513; longitude = -122.427677; captureRadius = 10; duration = 163; initialDepth = 2861.239415; finalDepth = 2861.140024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.140024 # Seafloor depth: -2911.140024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.831926 meters # Minimum depth: 2911.239415 meters looking forward 0.000000 meters along route # Maximum depth: 2911.239415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.239415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590668; longitude = -122.426782; captureRadius = 10; duration = 163; initialDepth = 2861.217538; finalDepth = 2861.239415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.239415 # Seafloor depth: -2911.239415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.831777 meters # Minimum depth: 2911.217538 meters looking forward 0.000000 meters along route # Maximum depth: 2911.217538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.217538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590824; longitude = -122.425888; captureRadius = 10; duration = 163; initialDepth = 2863.274099; finalDepth = 2861.217538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.217538 # Seafloor depth: -2911.217538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.831629 meters # Minimum depth: 2913.274099 meters looking forward 0.000000 meters along route # Maximum depth: 2913.274099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.274099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.590979; longitude = -122.424994; captureRadius = 10; duration = 163; initialDepth = 2862.927650; finalDepth = 2863.274099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.274099 # Seafloor depth: -2913.274099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.831480 meters # Minimum depth: 2912.927650 meters looking forward 0.000000 meters along route # Maximum depth: 2912.927650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2862.927650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591135; longitude = -122.424100; captureRadius = 10; duration = 163; initialDepth = 2863.059331; finalDepth = 2862.927650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2862.92765 # Seafloor depth: -2912.927650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 81.831332 meters # Minimum depth: 2913.059331 meters looking forward 0.000000 meters along route # Maximum depth: 2913.059331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.059331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591290; longitude = -122.423206; captureRadius = 10; duration = 163; initialDepth = 2856.652704; finalDepth = 2863.059331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.059331 # Seafloor depth: -2913.059331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 77.444870 meters # Minimum depth: 2906.652704 meters looking forward 0.000000 meters along route # Maximum depth: 2906.652704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.652704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591446; longitude = -122.422311; captureRadius = 10; duration = 154; initialDepth = 2856.559631; finalDepth = 2856.652704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.652704 # Seafloor depth: -2906.652704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 60.593700 meters # Minimum depth: 2906.559631 meters looking forward 0.000000 meters along route # Maximum depth: 2906.559631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.559631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591593; longitude = -122.421465; captureRadius = 10; duration = 121; # abortOnTimeout = True; initialDepth = 2856.301847; finalDepth = 2856.559631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.559631 # Seafloor depth: -2906.559631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 78.577404 meters # Minimum depth: 2906.301847 meters looking forward 0.000000 meters along route # Maximum depth: 2906.301847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.301847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.591836; longitude = -122.420858; captureRadius = 10; duration = 157; initialDepth = 2853.387127; finalDepth = 2856.301847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.301847 # Seafloor depth: -2906.301847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 83.000823 meters # Minimum depth: 2903.387127 meters looking forward 0.000000 meters along route # Maximum depth: 2903.387127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2853.387127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592151; longitude = -122.420071; captureRadius = 10; duration = 166; initialDepth = 2852.555786; finalDepth = 2853.387127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2853.387127 # Seafloor depth: -2903.387127 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 77.758228 meters # Minimum depth: 2902.555786 meters looking forward 0.000000 meters along route # Maximum depth: 2902.555786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.555786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.592483; longitude = -122.419240; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 2851.938257; finalDepth = 2852.555786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.555786 # Seafloor depth: -2902.555786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 83.094896 meters # Minimum depth: 2901.938257 meters looking forward 0.000000 meters along route # Maximum depth: 2901.938257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.938257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593142; longitude = -122.419536; captureRadius = 10; duration = 166; initialDepth = 2850.154701; finalDepth = 2851.938257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.938257 # Seafloor depth: -2901.938257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 76.429204 meters # Minimum depth: 2900.154701 meters looking forward 0.000000 meters along route # Maximum depth: 2900.154701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.154701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.593846; longitude = -122.419852; captureRadius = 10; duration = 152; initialDepth = 2848.930221; finalDepth = 2850.154701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.154701 # Seafloor depth: -2900.154701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.079397 meters # Minimum depth: 2898.930221 meters looking forward 0.000000 meters along route # Maximum depth: 2898.930221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.930221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.594494; longitude = -122.420143; captureRadius = 10; duration = 170; initialDepth = 2848.940950; finalDepth = 2848.930221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.930221 # Seafloor depth: -2898.930221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.079310 meters # Minimum depth: 2898.940950 meters looking forward 0.000000 meters along route # Maximum depth: 2898.940950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.940950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595215; longitude = -122.420467; captureRadius = 10; duration = 170; initialDepth = 2848.164073; finalDepth = 2848.940950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.94095 # Seafloor depth: -2898.940950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.079225 meters # Minimum depth: 2898.164073 meters looking forward 0.000000 meters along route # Maximum depth: 2898.164073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.164073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.595937; longitude = -122.420791; captureRadius = 10; duration = 170; initialDepth = 2846.469993; finalDepth = 2848.164073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.164073 # Seafloor depth: -2898.164073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.079139 meters # Minimum depth: 2896.469993 meters looking forward 0.000000 meters along route # Maximum depth: 2896.469993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.469993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.596658; longitude = -122.421114; captureRadius = 10; duration = 170; initialDepth = 2846.334264; finalDepth = 2846.469993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.469993 # Seafloor depth: -2896.469993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 82.571024 meters # Minimum depth: 2896.334264 meters looking forward 0.000000 meters along route # Maximum depth: 2896.334264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.334264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.597379; longitude = -122.421438; captureRadius = 10; duration = 165; initialDepth = 2844.822330; finalDepth = 2846.334264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.334264 # Seafloor depth: -2896.334264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 76.952130 meters # Minimum depth: 2894.822330 meters looking forward 0.000000 meters along route # Maximum depth: 2894.822330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2844.822330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598079; longitude = -122.421752; captureRadius = 10; duration = 153; initialDepth = 2843.674826; finalDepth = 2844.822330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2844.82233 # Seafloor depth: -2894.822330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078892 meters # Minimum depth: 2893.674826 meters looking forward 0.000000 meters along route # Maximum depth: 2893.674826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.674826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.598731; longitude = -122.422045; captureRadius = 10; duration = 170; initialDepth = 2846.117633; finalDepth = 2843.674826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.674826 # Seafloor depth: -2893.674826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078807 meters # Minimum depth: 2896.117633 meters looking forward 0.000000 meters along route # Maximum depth: 2896.117633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.117633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.599452; longitude = -122.422369; captureRadius = 10; duration = 170; initialDepth = 2843.510015; finalDepth = 2846.117633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.117633 # Seafloor depth: -2896.117633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078720 meters # Minimum depth: 2893.510015 meters looking forward 0.000000 meters along route # Maximum depth: 2893.510015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.510015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600173; longitude = -122.422693; captureRadius = 10; duration = 170; initialDepth = 2843.593167; finalDepth = 2843.510015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.510015 # Seafloor depth: -2893.510015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078635 meters # Minimum depth: 2893.593167 meters looking forward 0.000000 meters along route # Maximum depth: 2893.593167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.593167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.600895; longitude = -122.423017; captureRadius = 10; duration = 170; initialDepth = 2840.332164; finalDepth = 2843.593167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.593167 # Seafloor depth: -2893.593167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 82.047159 meters # Minimum depth: 2890.332164 meters looking forward 0.000000 meters along route # Maximum depth: 2890.332164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.332164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.601616; longitude = -122.423340; captureRadius = 10; duration = 164; initialDepth = 2838.749875; finalDepth = 2840.332164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.332164 # Seafloor depth: -2890.332164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 77.475050 meters # Minimum depth: 2888.749875 meters looking forward 0.000000 meters along route # Maximum depth: 2888.749875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2838.749875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602311; longitude = -122.423653; captureRadius = 10; duration = 154; initialDepth = 2837.494948; finalDepth = 2838.749875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2838.749875 # Seafloor depth: -2888.749875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078388 meters # Minimum depth: 2887.494948 meters looking forward 0.000000 meters along route # Maximum depth: 2887.494948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.494948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602968; longitude = -122.423948; captureRadius = 10; duration = 170; initialDepth = 2834.945201; finalDepth = 2837.494948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.494948 # Seafloor depth: -2887.494948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078302 meters # Minimum depth: 2884.945201 meters looking forward 0.000000 meters along route # Maximum depth: 2884.945201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.945201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603689; longitude = -122.424271; captureRadius = 10; duration = 170; initialDepth = 2834.393294; finalDepth = 2834.945201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.945201 # Seafloor depth: -2884.945201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078217 meters # Minimum depth: 2884.393294 meters looking forward 0.000000 meters along route # Maximum depth: 2884.393294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.393294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604410; longitude = -122.424595; captureRadius = 10; duration = 170; initialDepth = 2831.185429; finalDepth = 2834.393294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.393294 # Seafloor depth: -2884.393294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.078130 meters # Minimum depth: 2881.185429 meters looking forward 0.000000 meters along route # Maximum depth: 2881.185429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.185429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605131; longitude = -122.424919; captureRadius = 10; duration = 170; initialDepth = 2828.283748; finalDepth = 2831.185429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.185429 # Seafloor depth: -2881.185429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 81.523300 meters # Minimum depth: 2878.283748 meters looking forward 0.000000 meters along route # Maximum depth: 2878.283748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2828.283748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605853; longitude = -122.425243; captureRadius = 10; duration = 163; initialDepth = 2827.972643; finalDepth = 2828.283748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2828.283748 # Seafloor depth: -2878.283748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 77.997964 meters # Minimum depth: 2877.972643 meters looking forward 0.000000 meters along route # Maximum depth: 2877.972643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.972643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606544; longitude = -122.425553; captureRadius = 10; duration = 155; initialDepth = 2823.701005; finalDepth = 2827.972643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.972643 # Seafloor depth: -2877.972643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.077884 meters # Minimum depth: 2873.701005 meters looking forward 0.000000 meters along route # Maximum depth: 2873.701005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.701005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607205; longitude = -122.425850; captureRadius = 10; duration = 170; initialDepth = 2825.483356; finalDepth = 2823.701005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.701005 # Seafloor depth: -2873.701005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.077798 meters # Minimum depth: 2875.483356 meters looking forward 0.000000 meters along route # Maximum depth: 2875.483356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2825.483356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607926; longitude = -122.426174; captureRadius = 10; duration = 170; initialDepth = 2823.640300; finalDepth = 2825.483356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2825.483356 # Seafloor depth: -2875.483356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.077712 meters # Minimum depth: 2873.640300 meters looking forward 0.000000 meters along route # Maximum depth: 2873.640300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2823.640300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608647; longitude = -122.426497; captureRadius = 10; duration = 170; initialDepth = 2827.821930; finalDepth = 2823.640300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2823.6403 # Seafloor depth: -2873.640300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.077627 meters # Minimum depth: 2877.821930 meters looking forward 0.000000 meters along route # Maximum depth: 2877.821930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2827.821930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609368; longitude = -122.426821; captureRadius = 10; duration = 170; initialDepth = 2831.692343; finalDepth = 2827.821930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2827.82193 # Seafloor depth: -2877.821930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.077541 meters # Minimum depth: 2881.692343 meters looking forward 0.000000 meters along route # Maximum depth: 2881.692343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2831.692343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610089; longitude = -122.427145; captureRadius = 10; duration = 170; initialDepth = 2832.415028; finalDepth = 2831.692343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2831.692343 # Seafloor depth: -2881.692343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 84.034851 meters # Minimum depth: 2882.415028 meters looking forward 0.000000 meters along route # Maximum depth: 2882.415028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2832.415028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610811; longitude = -122.427469; captureRadius = 10; duration = 168; initialDepth = 2834.226797; finalDepth = 2832.415028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2832.415028 # Seafloor depth: -2882.415028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 75.485306 meters # Minimum depth: 2884.226797 meters looking forward 0.000000 meters along route # Maximum depth: 2884.226797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.226797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611523; longitude = -122.427788; captureRadius = 10; duration = 150; initialDepth = 2834.667043; finalDepth = 2834.226797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.226797 # Seafloor depth: -2884.226797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.077294 meters # Minimum depth: 2884.667043 meters looking forward 0.000000 meters along route # Maximum depth: 2884.667043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2834.667043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612163; longitude = -122.428076; captureRadius = 10; duration = 170; initialDepth = 2837.391107; finalDepth = 2834.667043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2834.667043 # Seafloor depth: -2884.667043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 85.077209 meters # Minimum depth: 2887.391107 meters looking forward 0.000000 meters along route # Maximum depth: 2887.391107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2837.391107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612884; longitude = -122.428400; captureRadius = 10; duration = 170; initialDepth = 2835.629689; finalDepth = 2837.391107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2837.391107 # Seafloor depth: -2887.391107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 81.626962 meters # Minimum depth: 2885.629689 meters looking forward 0.000000 meters along route # Maximum depth: 2885.629689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2835.629689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613605; longitude = -122.428723; captureRadius = 10; duration = 163; initialDepth = 2840.509705; finalDepth = 2835.629689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2835.629689 # Seafloor depth: -2885.629689 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 71.343025 meters # Minimum depth: 2890.509705 meters looking forward 0.000000 meters along route # Maximum depth: 2890.509705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2840.509705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614297; longitude = -122.429034; captureRadius = 10; duration = 142; # abortOnTimeout = True; initialDepth = 2841.395018; finalDepth = 2840.509705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2840.509705 # Seafloor depth: -2890.509705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 83.229961 meters # Minimum depth: 2891.395018 meters looking forward 0.000000 meters along route # Maximum depth: 2891.395018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.395018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.614119; longitude = -122.429801; captureRadius = 10; duration = 166; initialDepth = 2841.067163; finalDepth = 2841.395018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.395018 # Seafloor depth: -2891.395018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.230159 meters # Minimum depth: 2891.067163 meters looking forward 0.000000 meters along route # Maximum depth: 2891.067163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2841.067163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613911; longitude = -122.430695; captureRadius = 10; duration = 166; initialDepth = 2842.476814; finalDepth = 2841.067163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2841.067163 # Seafloor depth: -2891.067163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 75.166228 meters # Minimum depth: 2892.476814 meters looking forward 0.000000 meters along route # Maximum depth: 2892.476814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.476814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613703; longitude = -122.431589; captureRadius = 10; duration = 150; initialDepth = 2842.869128; finalDepth = 2842.476814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.476814 # Seafloor depth: -2892.476814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 80.890852 meters # Minimum depth: 2892.869128 meters looking forward 0.000000 meters along route # Maximum depth: 2892.869128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2842.869128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613515; longitude = -122.432397; captureRadius = 10; duration = 161; initialDepth = 2848.080730; finalDepth = 2842.869128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2842.869128 # Seafloor depth: -2892.869128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.230728 meters # Minimum depth: 2898.080730 meters looking forward 0.000000 meters along route # Maximum depth: 2898.080730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2848.080730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613313; longitude = -122.433266; captureRadius = 10; duration = 166; initialDepth = 2846.982116; finalDepth = 2848.080730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2848.08073 # Seafloor depth: -2898.080730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.230925 meters # Minimum depth: 2896.982116 meters looking forward 0.000000 meters along route # Maximum depth: 2896.982116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.982116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.613105; longitude = -122.434160; captureRadius = 10; duration = 166; initialDepth = 2846.763489; finalDepth = 2846.982116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.982116 # Seafloor depth: -2896.982116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 77.323446 meters # Minimum depth: 2896.763489 meters looking forward 0.000000 meters along route # Maximum depth: 2896.763489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.763489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612897; longitude = -122.435054; captureRadius = 10; duration = 154; initialDepth = 2849.045810; finalDepth = 2846.763489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.763489 # Seafloor depth: -2896.763489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 78.735071 meters # Minimum depth: 2899.045810 meters looking forward 0.000000 meters along route # Maximum depth: 2899.045810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.045810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612704; longitude = -122.435885; captureRadius = 10; duration = 157; initialDepth = 2850.073899; finalDepth = 2849.045810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.04581 # Seafloor depth: -2899.045810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.231494 meters # Minimum depth: 2900.073899 meters looking forward 0.000000 meters along route # Maximum depth: 2900.073899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.073899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612507; longitude = -122.436731; captureRadius = 10; duration = 166; initialDepth = 2852.082950; finalDepth = 2850.073899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.073899 # Seafloor depth: -2900.073899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.231692 meters # Minimum depth: 2902.082950 meters looking forward 0.000000 meters along route # Maximum depth: 2902.082950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.082950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612299; longitude = -122.437625; captureRadius = 10; duration = 166; initialDepth = 2850.890921; finalDepth = 2852.082950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.08295 # Seafloor depth: -2902.082950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 79.480704 meters # Minimum depth: 2900.890921 meters looking forward 0.000000 meters along route # Maximum depth: 2900.890921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2850.890921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.612091; longitude = -122.438519; captureRadius = 10; duration = 158; initialDepth = 2852.148915; finalDepth = 2850.890921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2850.890921 # Seafloor depth: -2900.890921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 76.579252 meters # Minimum depth: 2902.148915 meters looking forward 0.000000 meters along route # Maximum depth: 2902.148915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.148915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611892; longitude = -122.439373; captureRadius = 10; duration = 153; initialDepth = 2854.796602; finalDepth = 2852.148915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.148915 # Seafloor depth: -2902.148915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.232260 meters # Minimum depth: 2904.796602 meters looking forward 0.000000 meters along route # Maximum depth: 2904.796602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2854.796602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611701; longitude = -122.440196; captureRadius = 10; duration = 166; initialDepth = 2856.250573; finalDepth = 2854.796602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2854.796602 # Seafloor depth: -2904.796602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.232459 meters # Minimum depth: 2906.250573 meters looking forward 0.000000 meters along route # Maximum depth: 2906.250573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.250573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611493; longitude = -122.441090; captureRadius = 10; duration = 166; initialDepth = 2856.802314; finalDepth = 2856.250573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.250573 # Seafloor depth: -2906.250573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.232657 meters # Minimum depth: 2906.802314 meters looking forward 0.000000 meters along route # Maximum depth: 2906.802314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.802314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611285; longitude = -122.441984; captureRadius = 10; duration = 166; initialDepth = 2856.071757; finalDepth = 2856.802314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.802314 # Seafloor depth: -2906.802314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.232854 meters # Minimum depth: 2906.071757 meters looking forward 0.000000 meters along route # Maximum depth: 2906.071757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2856.071757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.611077; longitude = -122.442879; captureRadius = 10; duration = 166; initialDepth = 2858.785144; finalDepth = 2856.071757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2856.071757 # Seafloor depth: -2906.071757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.233053 meters # Minimum depth: 2908.785144 meters looking forward 0.000000 meters along route # Maximum depth: 2908.785144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.785144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610869; longitude = -122.443773; captureRadius = 10; duration = 166; initialDepth = 2859.636765; finalDepth = 2858.785144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.785144 # Seafloor depth: -2908.785144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 84.471943 meters # Minimum depth: 2909.636765 meters looking forward 0.000000 meters along route # Maximum depth: 2909.636765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2859.636765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610661; longitude = -122.444667; captureRadius = 10; duration = 168; initialDepth = 2860.347119; finalDepth = 2859.636765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2859.636765 # Seafloor depth: -2909.636765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 81.994755 meters # Minimum depth: 2910.347119 meters looking forward 0.000000 meters along route # Maximum depth: 2910.347119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2860.347119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610450; longitude = -122.445575; captureRadius = 10; duration = 163; initialDepth = 2861.744439; finalDepth = 2860.347119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2860.347119 # Seafloor depth: -2910.347119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 83.233647 meters # Minimum depth: 2911.744439 meters looking forward 0.000000 meters along route # Maximum depth: 2911.744439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2861.744439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610245; longitude = -122.446456; captureRadius = 10; duration = 166; initialDepth = 2863.554843; finalDepth = 2861.744439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2861.744439 # Seafloor depth: -2911.744439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 76.893155 meters # Minimum depth: 2913.554843 meters looking forward 0.000000 meters along route # Maximum depth: 2913.554843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.554843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.610037; longitude = -122.447350; captureRadius = 10; duration = 153; initialDepth = 2863.202820; finalDepth = 2863.554843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.554843 # Seafloor depth: -2913.554843 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 130.859076 meters # Minimum depth: 2913.202820 meters looking forward 0.000000 meters along route # Maximum depth: 2913.202820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2863.202820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.609845; longitude = -122.448176; captureRadius = 10; duration = 261; # abortOnTimeout = True; initialDepth = 2866.218624; finalDepth = 2863.202820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2863.20282 # Seafloor depth: -2913.202820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.005983 meters # Minimum depth: 2916.218624 meters looking forward 0.000000 meters along route # Maximum depth: 2916.218624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.218624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608827; longitude = -122.448916; captureRadius = 10; duration = 158; initialDepth = 2866.389771; finalDepth = 2866.218624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.218624 # Seafloor depth: -2916.218624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 128.164664 meters # Minimum depth: 2916.389771 meters looking forward 0.000000 meters along route # Maximum depth: 2916.389771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2866.389771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.608213; longitude = -122.449363; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 2858.363961; finalDepth = 2866.389771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2866.389771 # Seafloor depth: -2916.389771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 76.824652 meters # Minimum depth: 2908.363961 meters looking forward 0.000000 meters along route # Maximum depth: 2908.363961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2858.363961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607491; longitude = -122.448244; captureRadius = 10; duration = 153; initialDepth = 2852.467927; finalDepth = 2858.363961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2858.363961 # Seafloor depth: -2908.363961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.824916 meters # Minimum depth: 2902.467927 meters looking forward 0.000000 meters along route # Maximum depth: 2902.467927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2852.467927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.607058; longitude = -122.447573; captureRadius = 10; duration = 153; initialDepth = 2849.733796; finalDepth = 2852.467927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2852.467927 # Seafloor depth: -2902.467927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.825182 meters # Minimum depth: 2899.733796 meters looking forward 0.000000 meters along route # Maximum depth: 2899.733796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.733796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606626; longitude = -122.446903; captureRadius = 10; duration = 153; initialDepth = 2846.073810; finalDepth = 2849.733796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.733796 # Seafloor depth: -2899.733796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.825447 meters # Minimum depth: 2896.073810 meters looking forward 0.000000 meters along route # Maximum depth: 2896.073810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.073810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.606193; longitude = -122.446232; captureRadius = 10; duration = 153; initialDepth = 2843.488049; finalDepth = 2846.073810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.07381 # Seafloor depth: -2896.073810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.825712 meters # Minimum depth: 2893.488049 meters looking forward 0.000000 meters along route # Maximum depth: 2893.488049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2843.488049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605760; longitude = -122.445561; captureRadius = 10; duration = 153; initialDepth = 2846.683911; finalDepth = 2843.488049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2843.488049 # Seafloor depth: -2893.488049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.825976 meters # Minimum depth: 2896.683911 meters looking forward 0.000000 meters along route # Maximum depth: 2896.683911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.683911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.605327; longitude = -122.444891; captureRadius = 10; duration = 153; initialDepth = 2847.407408; finalDepth = 2846.683911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.683911 # Seafloor depth: -2896.683911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.826242 meters # Minimum depth: 2897.407408 meters looking forward 0.000000 meters along route # Maximum depth: 2897.407408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2847.407408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604895; longitude = -122.444220; captureRadius = 10; duration = 153; initialDepth = 2846.647598; finalDepth = 2847.407408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2847.407408 # Seafloor depth: -2897.407408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.826507 meters # Minimum depth: 2896.647598 meters looking forward 0.000000 meters along route # Maximum depth: 2896.647598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2846.647598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604462; longitude = -122.443549; captureRadius = 10; duration = 153; initialDepth = 2849.276942; finalDepth = 2846.647598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2846.647598 # Seafloor depth: -2896.647598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.826773 meters # Minimum depth: 2899.276942 meters looking forward 0.000000 meters along route # Maximum depth: 2899.276942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.276942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.604029; longitude = -122.442879; captureRadius = 10; duration = 153; initialDepth = 2851.284033; finalDepth = 2849.276942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.276942 # Seafloor depth: -2899.276942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.827037 meters # Minimum depth: 2901.284033 meters looking forward 0.000000 meters along route # Maximum depth: 2901.284033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.284033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603596; longitude = -122.442208; captureRadius = 10; duration = 153; initialDepth = 2849.768137; finalDepth = 2851.284033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.284033 # Seafloor depth: -2901.284033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 76.827302 meters # Minimum depth: 2899.768137 meters looking forward 0.000000 meters along route # Maximum depth: 2899.768137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2849.768137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.603164; longitude = -122.441537; captureRadius = 10; duration = 153; initialDepth = 2851.666714; finalDepth = 2849.768137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2849.768137 # Seafloor depth: -2899.768137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 80.608444 meters # Minimum depth: 2901.666714 meters looking forward 0.000000 meters along route # Maximum depth: 2901.666714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2916.511169 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2851.666714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.602731; longitude = -122.440867; captureRadius = 10; duration = 161; initialDepth = 2849.667542; finalDepth = 2851.666714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2851.666714 # Seafloor depth: -2901.666714 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 2849.667542 # Seafloor depth: -2899.667542 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 80.608444 meters # Minimum depth: 2899.667542 meters looking forward 0.000000 meters along route # Maximum depth: 2899.667542 meters looking forward 0.000000 meters along route # Vehicle depth: 2849.667542 meters behavior waypoint { latitude = 36.602277; longitude = -122.440163; captureRadius = 10; duration = 1800; depth = 2849.667542; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2849.667542 meters set by local depth and desired altitude behavior descend { duration = 8344; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 2839.667542; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 80.608444 meters # Minimum depth: 2899.667542 meters looking forward 0.000000 meters along route # Maximum depth: 2899.667542 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 36.602277; longitude = -122.440163; captureRadius = 10; duration = 1000; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 308.338155; 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 = 308.338155; 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 = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################