# 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_4v4.rte # Mission File: 2009MBCanyon_4v4.cfg # Distance: 85499.779281 (m) # Estimated Time: 59996 (s) 16.666 (hr) # Abort Time: 60463 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2536 (s) # Way Points: 118 # Route Points: 1045 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # 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: 2106.574219 (m) # Abort Vehicle Depth: 2131.574219 (m) # Descent Vehicle Depth: 3 (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 -122.002333 36.654633 -110.175598 0.000000 3 # 1 -122.002968 36.653040 -108.801697 185.549857 4 # 2 -122.009128 36.654392 -129.852051 756.203171 3 # 3 -122.024023 36.657277 -395.037254 2125.531459 1 # 4 -122.030966 36.658629 -545.038422 2763.974175 1 # 5 -122.037126 36.658539 -681.301178 3314.648633 1 # 6 -122.042471 36.658073 -807.346695 3795.177576 1 # 7 -122.048407 36.656589 -1015.812515 4350.702371 1 # 8 -122.053701 36.655204 -1175.075073 4848.217516 1 # 9 -122.060010 36.653461 -1325.950806 5444.377132 1 # 10 -122.064452 36.652409 -1395.694000 5858.228375 1 # 11 -122.068440 36.652137 -1489.477844 6215.979602 1 # 12 -122.074672 36.654808 -1645.571960 6846.936946 3 # 13 -122.070665 36.660596 -1688.017944 7582.166117 1 # 14 -122.070665 36.663712 -1709.415741 7927.843825 1 # 15 -122.072743 36.667422 -1748.417603 8379.378020 1 # 16 -122.076304 36.668757 -1769.154205 8730.393540 1 # 17 -122.081350 36.669944 -1828.122681 9200.173940 1 # 18 -122.088473 36.670389 -1884.876495 9838.641297 1 # 19 -122.091589 36.672170 -1903.643555 10180.075522 1 # 20 -122.093666 36.677216 -1859.642731 10769.826549 1 # 21 -122.095002 36.695913 -1826.632629 12847.435224 3 # 22 -122.110583 36.687900 -1914.140442 14499.076644 4 # 23 -122.110138 36.686564 -1896.326599 14652.527438 3 # 24 -122.094260 36.694874 -1788.836639 16344.337337 4 # 25 -122.093666 36.693687 -1751.844879 16486.309672 3 # 26 -122.108951 36.685526 -1930.346832 18124.774362 4 # 27 -122.108506 36.684190 -1939.465454 18278.225461 3 # 28 -122.093221 36.692352 -1732.747253 19916.771154 4 # 29 -122.092479 36.690868 -1755.267517 20094.246432 3 # 30 -122.107615 36.682854 -1933.441132 21712.657155 4 # 31 -122.107022 36.681667 -1917.299988 21854.598620 3 # 32 -122.091886 36.689680 -1729.214874 23472.965856 4 # 33 -122.091144 36.688197 -1721.826202 23650.339063 3 # 34 -122.111622 36.677512 -1942.703735 25830.475972 4 # 35 -122.111028 36.676325 -1964.199982 25972.451980 3 # 36 -122.091144 36.686416 -1744.948547 28072.411916 4 # 37 -122.090253 36.685080 -1748.085541 28240.650242 3 # 38 -122.111177 36.674841 -1983.541321 30428.304424 4 # 39 -122.110286 36.673506 -2010.554260 30596.449829 3 # 40 -122.090253 36.683745 -1823.701996 32716.490999 4 # 41 -122.089660 36.682558 -1785.424652 32858.432691 3 # 42 -122.112512 36.670835 -2011.785400 35279.414351 4 # 43 -122.112364 36.669202 -2030.797760 35461.054490 3 # 44 -122.093370 36.679293 -1874.447296 37494.303301 4 # 45 -122.092924 36.677957 -1857.245514 37647.778685 3 # 46 -122.115035 36.666086 -2047.662018 40022.342167 4 # 47 -122.114293 36.665047 -2066.423889 40155.318862 3 # 48 -122.091886 36.676770 -1826.582184 42542.980267 4 # 49 -122.090995 36.675435 -1813.950836 42711.125346 3 # 50 -122.095892 36.672764 -1938.839813 43239.610774 3 # 51 -122.093815 36.670835 -1914.117340 43522.886304 1 # 52 -122.091144 36.669499 -1887.802246 43803.853623 1 # 53 -122.087137 36.668164 -1856.703247 44191.367083 1 # 54 -122.082685 36.666828 -1809.978180 44615.947898 1 # 55 -122.080014 36.665938 -1787.966553 44874.270012 1 # 56 -122.076898 36.663267 -1746.317139 45280.907841 1 # 57 -122.076008 36.661486 -1722.047211 45493.896387 1 # 58 -122.076008 36.659260 -1679.902252 45740.840419 1 # 59 -122.077195 36.655847 -1654.959503 46134.049235 4 # 60 -122.076008 36.655253 -1658.179688 46258.945486 3 # 61 -122.074672 36.657924 -1678.956177 46578.413390 1 # 62 -122.074227 36.659705 -1695.183533 46779.954452 1 # 63 -122.074227 36.661486 -1708.411865 46977.531935 1 # 64 -122.074524 36.662970 -1723.612518 47144.287657 1 # 65 -122.076008 36.665047 -1748.815216 47410.148045 1 # 66 -122.079569 36.667273 -1801.178345 47812.968885 1 # 67 -122.086098 36.669202 -1860.190674 48434.460302 1 # 68 -122.090995 36.670538 -1904.256317 48896.504356 1 # 69 -122.093221 36.672319 -1924.708832 49176.875953 1 # 70 -122.095002 36.675880 -1906.834137 49602.773871 4 # 71 -122.098118 36.674544 -1975.759735 49918.208276 3 # 72 -122.092776 36.671428 -1921.870087 50507.598288 1 # 73 -122.087434 36.669202 -1868.223694 51045.079063 1 # 74 -122.082537 36.669202 -1832.416870 51482.711163 1 # 75 -122.078975 36.668312 -1799.613922 51815.999975 1 # 76 -122.075562 36.667273 -1766.328217 52142.068718 1 # 77 -122.073337 36.665047 -1731.003204 52459.122476 1 # 78 -122.072298 36.663415 -1711.179962 52662.595329 1 # 79 -122.071853 36.660744 -1697.221802 52961.563570 1 # 80 -122.073782 36.657479 -1676.209045 53362.711843 4 # 81 -122.075414 36.658073 -1679.934357 53522.774902 3 # 82 -122.073337 36.660596 -1698.287628 53858.634777 1 # 83 -122.073188 36.662525 -1713.868469 54073.044864 1 # 84 -122.074672 36.665047 -1741.084717 54382.671351 1 # 85 -122.078085 36.666976 -1787.651825 54755.275665 1 # 86 -122.085653 36.668757 -1853.283966 55459.888098 1 # 87 -122.092034 36.670835 -1912.683441 56074.969632 1 # 88 -122.094705 36.673951 -1926.753387 56495.047551 3 # 89 -122.118151 36.661189 -2074.751404 59023.851397 4 # 90 -122.118299 36.656144 -2113.567078 59583.676586 3 # 91 -122.100492 36.665493 -1914.517761 61483.314110 4 # 92 -122.101383 36.666828 -1958.553497 61651.463541 3 # 93 -122.118596 36.657628 -2108.223572 63497.636195 4 # 94 -122.118745 36.659260 -2081.328918 63679.171827 3 # 95 -122.102273 36.668164 -1983.704193 65452.005298 3 # 96 -122.107022 36.680777 -1922.379303 66914.179051 1 # 97 -122.111028 36.690126 -1907.462555 68011.345618 1 # 98 -122.113254 36.695468 -1871.063080 68636.444474 1 # 99 -122.114293 36.707339 -1787.562317 69956.635079 4 # 100 -122.116370 36.707488 -1782.865021 70142.893229 3 # 101 -122.115035 36.695468 -1828.466248 71481.668375 1 # 102 -122.108357 36.678551 -1976.468719 73450.936461 4 # 103 -122.110138 36.677661 -1950.086395 73638.219934 3 # 104 -122.116964 36.694874 -1789.375793 75642.790693 1 # 105 -122.118151 36.707488 -1729.627350 77046.150957 1 # 106 -122.116074 36.710901 -1708.380341 77467.784251 4 # 107 -122.118151 36.711494 -1684.286102 77664.617117 3 # 108 -122.119932 36.707933 -1675.811737 78090.487918 1 # 109 -122.118745 36.694874 -1730.487946 79543.078026 1 # 110 -122.111473 36.676770 -1954.378052 81653.945909 1 # 111 -122.113254 36.668757 -2001.264618 82557.009254 1 # 112 -122.115183 36.664157 -2066.073792 83095.646276 1 # 113 -122.117854 36.662821 -2079.035461 83376.629842 3 # 114 -122.112809 36.657628 -2099.579041 84108.200419 3 # 115 -122.118596 36.654511 -2121.670288 84730.389671 4 # 116 -122.119190 36.652582 -2131.574219 84950.872137 3 # 117 -122.114144 36.655402 -2113.553955 85499.779281 4 # # A total of 1045 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2106.574219; abortDepth = 2131.574219; 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 = 2536; 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 117 # Segment length 72.613392 meters # Minimum depth: 2113.553955 meters looking forward 0.000000 meters along route # Maximum depth: 2113.553955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.553955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655402; longitude = -122.114144; captureRadius = 10; duration = 145; # abortOnTimeout = True; initialDepth = 2068.105855; finalDepth = 2063.553955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2063.553955 # Seafloor depth: -2113.553955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 82.962765 meters # Minimum depth: 2118.105855 meters looking forward 0.000000 meters along route # Maximum depth: 2118.105855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.105855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655029; longitude = -122.114812; captureRadius = 10; duration = 165; initialDepth = 2066.979649; finalDepth = 2068.105855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2068.105855 # Seafloor depth: -2118.105855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 117 # Segment length 75.410924 meters # Minimum depth: 2116.979649 meters looking forward 0.000000 meters along route # Maximum depth: 2116.979649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.979649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654603; longitude = -122.115574; captureRadius = 10; duration = 150; initialDepth = 2068.825797; finalDepth = 2066.979649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2066.979649 # Seafloor depth: -2116.979649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 117 # Segment length 82.499351 meters # Minimum depth: 2118.825797 meters looking forward 0.000000 meters along route # Maximum depth: 2118.825797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.825797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654215; longitude = -122.116267; captureRadius = 10; duration = 164; initialDepth = 2073.773106; finalDepth = 2068.825797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2068.825797 # Seafloor depth: -2118.825797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 117 # Segment length 75.875416 meters # Minimum depth: 2123.773106 meters looking forward 0.000000 meters along route # Maximum depth: 2123.773106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.773106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653791; longitude = -122.117026; captureRadius = 10; duration = 151; initialDepth = 2074.617539; finalDepth = 2073.773106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2073.773106 # Seafloor depth: -2123.773106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 117 # Segment length 82.035932 meters # Minimum depth: 2124.617539 meters looking forward 0.000000 meters along route # Maximum depth: 2124.617539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.617539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653402; longitude = -122.117723; captureRadius = 10; duration = 164; initialDepth = 2079.374023; finalDepth = 2074.617539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2074.617539 # Seafloor depth: -2124.617539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 117 # Segment length 77.509364 meters # Minimum depth: 2129.374023 meters looking forward 0.000000 meters along route # Maximum depth: 2129.374023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.374023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652980; longitude = -122.118477; captureRadius = 10; duration = 155; initialDepth = 2081.574219; finalDepth = 2079.374023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2079.374023 # Seafloor depth: -2129.374023 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 138.240050 meters # Minimum depth: 2131.574219 meters looking forward 0.000000 meters along route # Maximum depth: 2131.574219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.574219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652582; longitude = -122.119190; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 2076.909098; finalDepth = 2081.574219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2081.574219 # Seafloor depth: -2131.574219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 82.242416 meters # Minimum depth: 2126.909098 meters looking forward 0.000000 meters along route # Maximum depth: 2126.909098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.909098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653791; longitude = -122.118818; captureRadius = 10; duration = 164; initialDepth = 2071.670288; finalDepth = 2076.909098; 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: 2076.909098 # Seafloor depth: -2126.909098 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 129.947878 meters # Minimum depth: 2121.670288 meters looking forward 0.000000 meters along route # Maximum depth: 2121.670288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.670288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654511; longitude = -122.118596; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 2070.971299; finalDepth = 2071.670288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2071.670288 # Seafloor depth: -2121.670288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 86.286561 meters # Minimum depth: 2120.971299 meters looking forward 0.000000 meters along route # Maximum depth: 2120.971299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.971299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655162; longitude = -122.117387; captureRadius = 10; duration = 172; initialDepth = 2065.891398; finalDepth = 2070.971299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2070.971299 # Seafloor depth: -2120.971299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 82.286897 meters # Minimum depth: 2115.891398 meters looking forward 0.000000 meters along route # Maximum depth: 2115.891398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.891398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655594; longitude = -122.116585; captureRadius = 10; duration = 164; initialDepth = 2063.892082; finalDepth = 2065.891398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2065.891398 # Seafloor depth: -2115.891398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 79.650564 meters # Minimum depth: 2113.892082 meters looking forward 0.000000 meters along route # Maximum depth: 2113.892082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.892082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656007; longitude = -122.115819; captureRadius = 10; duration = 159; initialDepth = 2061.277873; finalDepth = 2063.892082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2063.892082 # Seafloor depth: -2113.892082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 76.880841 meters # Minimum depth: 2111.277873 meters looking forward 0.000000 meters along route # Maximum depth: 2111.277873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.277873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656406; longitude = -122.115079; captureRadius = 10; duration = 153; initialDepth = 2061.165183; finalDepth = 2061.277873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2061.277873 # Seafloor depth: -2111.277873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 85.055494 meters # Minimum depth: 2111.165183 meters looking forward 0.000000 meters along route # Maximum depth: 2111.165183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.165183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656791; longitude = -122.114364; captureRadius = 10; duration = 170; initialDepth = 2057.501158; finalDepth = 2061.165183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2061.165183 # Seafloor depth: -2111.165183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 82.081017 meters # Minimum depth: 2107.501158 meters looking forward 0.000000 meters along route # Maximum depth: 2107.501158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.501158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657217; longitude = -122.113572; captureRadius = 10; duration = 164; initialDepth = 2049.579041; finalDepth = 2057.501158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2057.501158 # Seafloor depth: -2107.501158 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 119.852547 meters # Minimum depth: 2099.579041 meters looking forward 0.000000 meters along route # Maximum depth: 2099.579041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.579041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657628; longitude = -122.112809; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 2051.090086; finalDepth = 2049.579041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2049.579041 # Seafloor depth: -2099.579041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 76.192321 meters # Minimum depth: 2101.090086 meters looking forward 0.000000 meters along route # Maximum depth: 2101.090086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.090086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658479; longitude = -122.113636; captureRadius = 10; duration = 152; initialDepth = 2046.172721; finalDepth = 2051.090086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2051.090086 # Seafloor depth: -2101.090086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 76.192116 meters # Minimum depth: 2096.172721 meters looking forward 0.000000 meters along route # Maximum depth: 2096.172721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.172721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659020; longitude = -122.114161; captureRadius = 10; duration = 152; initialDepth = 2045.946829; finalDepth = 2046.172721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2046.172721 # Seafloor depth: -2096.172721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 76.191910 meters # Minimum depth: 2095.946829 meters looking forward 0.000000 meters along route # Maximum depth: 2095.946829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.946829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659560; longitude = -122.114686; captureRadius = 10; duration = 152; initialDepth = 2043.692952; finalDepth = 2045.946829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2045.946829 # Seafloor depth: -2095.946829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 76.191705 meters # Minimum depth: 2093.692952 meters looking forward 0.000000 meters along route # Maximum depth: 2093.692952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.692952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660101; longitude = -122.115212; captureRadius = 10; duration = 152; initialDepth = 2047.404706; finalDepth = 2043.692952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2043.692952 # Seafloor depth: -2093.692952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 76.885796 meters # Minimum depth: 2097.404706 meters looking forward 0.000000 meters along route # Maximum depth: 2097.404706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.404706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660642; longitude = -122.115737; captureRadius = 10; duration = 153; initialDepth = 2045.426921; finalDepth = 2047.404706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2047.404706 # Seafloor depth: -2097.404706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 75.496999 meters # Minimum depth: 2095.426921 meters looking forward 0.000000 meters along route # Maximum depth: 2095.426921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.426921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661188; longitude = -122.116267; captureRadius = 10; duration = 150; initialDepth = 2041.864324; finalDepth = 2045.426921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2045.426921 # Seafloor depth: -2095.426921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 76.191089 meters # Minimum depth: 2091.864324 meters looking forward 0.000000 meters along route # Maximum depth: 2091.864324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.864324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661724; longitude = -122.116788; captureRadius = 10; duration = 152; initialDepth = 2036.515803; finalDepth = 2041.864324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2041.864324 # Seafloor depth: -2091.864324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 78.376094 meters # Minimum depth: 2086.515803 meters looking forward 0.000000 meters along route # Maximum depth: 2086.515803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.515803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662265; longitude = -122.117314; captureRadius = 10; duration = 156; initialDepth = 2029.035461; finalDepth = 2036.515803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2036.515803 # Seafloor depth: -2086.515803 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 129.444274 meters # Minimum depth: 2079.035461 meters looking forward 0.000000 meters along route # Maximum depth: 2079.035461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.035461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662821; longitude = -122.117854; captureRadius = 10; duration = 258; # abortOnTimeout = True; initialDepth = 2039.625788; finalDepth = 2029.035461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2029.035461 # Seafloor depth: -2079.035461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 75.832053 meters # Minimum depth: 2089.625788 meters looking forward 0.000000 meters along route # Maximum depth: 2089.625788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.625788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663436; longitude = -122.116624; captureRadius = 10; duration = 151; initialDepth = 2028.028453; finalDepth = 2039.625788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2039.625788 # Seafloor depth: -2089.625788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 75.707239 meters # Minimum depth: 2078.028453 meters looking forward 0.000000 meters along route # Maximum depth: 2078.028453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.028453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663797; longitude = -122.115903; captureRadius = 10; duration = 151; initialDepth = 2016.073792; finalDepth = 2028.028453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2028.028453 # Seafloor depth: -2078.028453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 134.998718 meters # Minimum depth: 2066.073792 meters looking forward 0.000000 meters along route # Maximum depth: 2066.073792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.073792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664157; longitude = -122.115183; captureRadius = 10; duration = 269; # abortOnTimeout = True; initialDepth = 2007.396353; finalDepth = 2016.073792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2016.073792 # Seafloor depth: -2066.073792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 76.170468 meters # Minimum depth: 2057.396353 meters looking forward 0.000000 meters along route # Maximum depth: 2057.396353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.396353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665310; longitude = -122.114700; captureRadius = 10; duration = 152; initialDepth = 2008.802883; finalDepth = 2007.396353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2007.396353 # Seafloor depth: -2057.396353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 80.189128 meters # Minimum depth: 2058.802883 meters looking forward 0.000000 meters along route # Maximum depth: 2058.802883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.802883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665960; longitude = -122.114427; captureRadius = 10; duration = 160; initialDepth = 2006.109221; finalDepth = 2008.802883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2008.802883 # Seafloor depth: -2058.802883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 78.135471 meters # Minimum depth: 2056.109221 meters looking forward 0.000000 meters along route # Maximum depth: 2056.109221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.109221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666645; longitude = -122.114140; captureRadius = 10; duration = 156; initialDepth = 1998.021068; finalDepth = 2006.109221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2006.109221 # Seafloor depth: -2056.109221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 84.439689 meters # Minimum depth: 2048.021068 meters looking forward 0.000000 meters along route # Maximum depth: 2048.021068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.021068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667313; longitude = -122.113860; captureRadius = 10; duration = 168; initialDepth = 1983.340828; finalDepth = 1998.021068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1998.021068 # Seafloor depth: -2048.021068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 84.703548 meters # Minimum depth: 2033.340828 meters looking forward 0.000000 meters along route # Maximum depth: 2033.340828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1983.340828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668034; longitude = -122.113557; captureRadius = 10; duration = 169; initialDepth = 1951.264618; finalDepth = 1983.340828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1983.340828 # Seafloor depth: -2033.340828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 91.175144 meters # Minimum depth: 2001.264618 meters looking forward 0.000000 meters along route # Maximum depth: 2001.264618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1951.264618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668757; longitude = -122.113254; captureRadius = 10; duration = 182; # abortOnTimeout = True; initialDepth = 1932.018953; finalDepth = 1951.264618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1951.264618 # Seafloor depth: -2001.264618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 84.443428 meters # Minimum depth: 1982.018953 meters looking forward 0.000000 meters along route # Maximum depth: 1982.018953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.018953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669566; longitude = -122.113074; captureRadius = 10; duration = 168; initialDepth = 1946.160276; finalDepth = 1932.018953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1932.018953 # Seafloor depth: -1982.018953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 78.097272 meters # Minimum depth: 1996.160276 meters looking forward 0.000000 meters along route # Maximum depth: 1996.160276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.160276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670315; longitude = -122.112908; captureRadius = 10; duration = 156; initialDepth = 1946.928361; finalDepth = 1946.160276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1946.160276 # Seafloor depth: -1996.160276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 81.270332 meters # Minimum depth: 1996.928361 meters looking forward 0.000000 meters along route # Maximum depth: 1996.928361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.928361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671008; longitude = -122.112754; captureRadius = 10; duration = 162; initialDepth = 1963.729484; finalDepth = 1946.928361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1946.928361 # Seafloor depth: -1996.928361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 81.270321 meters # Minimum depth: 2013.729484 meters looking forward 0.000000 meters along route # Maximum depth: 2013.729484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1963.729484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671729; longitude = -122.112593; captureRadius = 10; duration = 162; initialDepth = 1965.242188; finalDepth = 1963.729484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1963.729484 # Seafloor depth: -2013.729484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 81.270308 meters # Minimum depth: 2015.242188 meters looking forward 0.000000 meters along route # Maximum depth: 2015.242188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1965.242188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672450; longitude = -122.112433; captureRadius = 10; duration = 162; initialDepth = 1934.666274; finalDepth = 1965.242188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1965.242188 # Seafloor depth: -2015.242188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 81.270297 meters # Minimum depth: 1984.666274 meters looking forward 0.000000 meters along route # Maximum depth: 1984.666274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.666274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673172; longitude = -122.112273; captureRadius = 10; duration = 162; initialDepth = 1909.932064; finalDepth = 1934.666274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1934.666274 # Seafloor depth: -1984.666274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 81.270285 meters # Minimum depth: 1959.932064 meters looking forward 0.000000 meters along route # Maximum depth: 1959.932064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1909.932064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673893; longitude = -122.112113; captureRadius = 10; duration = 162; initialDepth = 1909.047115; finalDepth = 1909.932064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1909.932064 # Seafloor depth: -1959.932064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 83.415558 meters # Minimum depth: 1959.047115 meters looking forward 0.000000 meters along route # Maximum depth: 1959.047115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1909.047115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674614; longitude = -122.111952; captureRadius = 10; duration = 166; initialDepth = 1911.543519; finalDepth = 1909.047115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1909.047115 # Seafloor depth: -1959.047115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 79.124976 meters # Minimum depth: 1961.543519 meters looking forward 0.000000 meters along route # Maximum depth: 1961.543519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.543519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675354; longitude = -122.111788; captureRadius = 10; duration = 158; initialDepth = 1910.467123; finalDepth = 1911.543519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1911.543519 # Seafloor depth: -1961.543519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 80.455424 meters # Minimum depth: 1960.467123 meters looking forward 0.000000 meters along route # Maximum depth: 1960.467123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.467123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676056; longitude = -122.111632; captureRadius = 10; duration = 160; initialDepth = 1904.378052; finalDepth = 1910.467123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1910.467123 # Seafloor depth: -1960.467123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 74.414195 meters # Minimum depth: 1954.378052 meters looking forward 0.000000 meters along route # Maximum depth: 1954.378052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.378052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676770; longitude = -122.111473; captureRadius = 10; duration = 148; # abortOnTimeout = True; initialDepth = 1894.972418; finalDepth = 1904.378052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1904.378052 # Seafloor depth: -1954.378052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 84.081289 meters # Minimum depth: 1944.972418 meters looking forward 0.000000 meters along route # Maximum depth: 1944.972418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1894.972418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677408; longitude = -122.111729; captureRadius = 10; duration = 168; initialDepth = 1876.482667; finalDepth = 1894.972418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1894.972418 # Seafloor depth: -1944.972418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.081219 meters # Minimum depth: 1926.482667 meters looking forward 0.000000 meters along route # Maximum depth: 1926.482667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.482667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678129; longitude = -122.112019; captureRadius = 10; duration = 168; initialDepth = 1859.628890; finalDepth = 1876.482667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.482667 # Seafloor depth: -1926.482667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 76.340997 meters # Minimum depth: 1909.628890 meters looking forward 0.000000 meters along route # Maximum depth: 1909.628890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.628890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678850; longitude = -122.112309; captureRadius = 10; duration = 152; initialDepth = 1835.845093; finalDepth = 1859.628890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1859.62889 # Seafloor depth: -1909.628890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 81.311102 meters # Minimum depth: 1885.845093 meters looking forward 0.000000 meters along route # Maximum depth: 1885.845093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.845093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679505; longitude = -122.112572; captureRadius = 10; duration = 162; initialDepth = 1799.549352; finalDepth = 1835.845093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1835.845093 # Seafloor depth: -1885.845093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.081020 meters # Minimum depth: 1849.549352 meters looking forward 0.000000 meters along route # Maximum depth: 1849.549352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.549352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680203; longitude = -122.112852; captureRadius = 10; duration = 168; initialDepth = 1769.586480; finalDepth = 1799.549352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.549352 # Seafloor depth: -1849.549352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.080950 meters # Minimum depth: 1819.586480 meters looking forward 0.000000 meters along route # Maximum depth: 1819.586480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.586480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680924; longitude = -122.113141; captureRadius = 10; duration = 168; initialDepth = 1741.706425; finalDepth = 1769.586480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.58648 # Seafloor depth: -1819.586480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 75.614200 meters # Minimum depth: 1791.706425 meters looking forward 0.000000 meters along route # Maximum depth: 1791.706425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.706425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681645; longitude = -122.113431; captureRadius = 10; duration = 151; initialDepth = 1727.603603; finalDepth = 1741.706425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1741.706425 # Seafloor depth: -1791.706425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 82.037394 meters # Minimum depth: 1777.603603 meters looking forward 0.000000 meters along route # Maximum depth: 1777.603603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.603603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682293; longitude = -122.113692; captureRadius = 10; duration = 164; initialDepth = 1710.011057; finalDepth = 1727.603603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.603603 # Seafloor depth: -1777.603603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 80.505852 meters # Minimum depth: 1760.011057 meters looking forward 0.000000 meters along route # Maximum depth: 1760.011057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.011057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682997; longitude = -122.113974; captureRadius = 10; duration = 161; initialDepth = 1708.175587; finalDepth = 1710.011057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1710.011057 # Seafloor depth: -1760.011057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 77.145497 meters # Minimum depth: 1758.175587 meters looking forward 0.000000 meters along route # Maximum depth: 1758.175587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.175587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683687; longitude = -122.114252; captureRadius = 10; duration = 154; initialDepth = 1716.521944; finalDepth = 1708.175587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1708.175587 # Seafloor depth: -1758.175587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 85.397489 meters # Minimum depth: 1766.521944 meters looking forward 0.000000 meters along route # Maximum depth: 1766.521944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.521944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684349; longitude = -122.114517; captureRadius = 10; duration = 170; initialDepth = 1719.206773; finalDepth = 1716.521944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.521944 # Seafloor depth: -1766.521944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 82.763682 meters # Minimum depth: 1769.206773 meters looking forward 0.000000 meters along route # Maximum depth: 1769.206773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.206773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685081; longitude = -122.114812; captureRadius = 10; duration = 165; initialDepth = 1735.373911; finalDepth = 1719.206773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1719.206773 # Seafloor depth: -1769.206773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 79.779045 meters # Minimum depth: 1785.373911 meters looking forward 0.000000 meters along route # Maximum depth: 1785.373911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.373911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685791; longitude = -122.115097; captureRadius = 10; duration = 159; initialDepth = 1743.796767; finalDepth = 1735.373911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1735.373911 # Seafloor depth: -1785.373911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 77.871800 meters # Minimum depth: 1793.796767 meters looking forward 0.000000 meters along route # Maximum depth: 1793.796767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.796767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686475; longitude = -122.115371; captureRadius = 10; duration = 155; initialDepth = 1747.462227; finalDepth = 1743.796767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.796767 # Seafloor depth: -1793.796767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.670667 meters # Minimum depth: 1797.462227 meters looking forward 0.000000 meters along route # Maximum depth: 1797.462227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.462227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687143; longitude = -122.115640; captureRadius = 10; duration = 169; initialDepth = 1749.941365; finalDepth = 1747.462227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1747.462227 # Seafloor depth: -1797.462227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 83.489964 meters # Minimum depth: 1799.941365 meters looking forward 0.000000 meters along route # Maximum depth: 1799.941365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.941365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687870; longitude = -122.115931; captureRadius = 10; duration = 166; initialDepth = 1746.537869; finalDepth = 1749.941365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1749.941365 # Seafloor depth: -1799.941365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 79.052244 meters # Minimum depth: 1796.537869 meters looking forward 0.000000 meters along route # Maximum depth: 1796.537869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.537869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688586; longitude = -122.116219; captureRadius = 10; duration = 158; initialDepth = 1718.309126; finalDepth = 1746.537869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.537869 # Seafloor depth: -1796.537869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 78.598096 meters # Minimum depth: 1768.309126 meters looking forward 0.000000 meters along route # Maximum depth: 1768.309126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.309126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689264; longitude = -122.116491; captureRadius = 10; duration = 157; initialDepth = 1692.253353; finalDepth = 1718.309126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.309126 # Seafloor depth: -1768.309126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.080082 meters # Minimum depth: 1742.253353 meters looking forward 0.000000 meters along route # Maximum depth: 1742.253353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.253353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689938; longitude = -122.116762; captureRadius = 10; duration = 168; initialDepth = 1671.775213; finalDepth = 1692.253353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.253353 # Seafloor depth: -1742.253353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.080012 meters # Minimum depth: 1721.775213 meters looking forward 0.000000 meters along route # Maximum depth: 1721.775213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.775213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690659; longitude = -122.117052; captureRadius = 10; duration = 168; initialDepth = 1672.663197; finalDepth = 1671.775213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1671.775213 # Seafloor depth: -1721.775213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 78.325446 meters # Minimum depth: 1722.663197 meters looking forward 0.000000 meters along route # Maximum depth: 1722.663197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.663197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691380; longitude = -122.117342; captureRadius = 10; duration = 156; initialDepth = 1675.023259; finalDepth = 1672.663197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.663197 # Seafloor depth: -1722.663197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 79.324389 meters # Minimum depth: 1725.023259 meters looking forward 0.000000 meters along route # Maximum depth: 1725.023259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.023259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692052; longitude = -122.117611; captureRadius = 10; duration = 158; initialDepth = 1681.080412; finalDepth = 1675.023259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1675.023259 # Seafloor depth: -1725.023259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.079812 meters # Minimum depth: 1731.080412 meters looking forward 0.000000 meters along route # Maximum depth: 1731.080412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.080412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692732; longitude = -122.117885; captureRadius = 10; duration = 168; initialDepth = 1685.904906; finalDepth = 1681.080412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1681.080412 # Seafloor depth: -1731.080412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 84.079742 meters # Minimum depth: 1735.904906 meters looking forward 0.000000 meters along route # Maximum depth: 1735.904906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.904906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693453; longitude = -122.118174; captureRadius = 10; duration = 168; initialDepth = 1683.224613; finalDepth = 1685.904906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1685.904906 # Seafloor depth: -1735.904906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 81.581698 meters # Minimum depth: 1733.224613 meters looking forward 0.000000 meters along route # Maximum depth: 1733.224613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.224613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694174; longitude = -122.118464; captureRadius = 10; duration = 163; initialDepth = 1680.487946; finalDepth = 1683.224613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1683.224613 # Seafloor depth: -1733.224613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 92.622090 meters # Minimum depth: 1730.487946 meters looking forward 0.000000 meters along route # Maximum depth: 1730.487946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.487946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694874; longitude = -122.118745; captureRadius = 10; duration = 185; # abortOnTimeout = True; initialDepth = 1662.189704; finalDepth = 1680.487946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1680.487946 # Seafloor depth: -1730.487946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 80.212456 meters # Minimum depth: 1712.189704 meters looking forward 0.000000 meters along route # Maximum depth: 1712.189704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.189704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695707; longitude = -122.118821; captureRadius = 10; duration = 160; initialDepth = 1648.419731; finalDepth = 1662.189704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1662.189704 # Seafloor depth: -1712.189704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 84.475558 meters # Minimum depth: 1698.419731 meters looking forward 0.000000 meters along route # Maximum depth: 1698.419731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.419731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696428; longitude = -122.118886; captureRadius = 10; duration = 168; initialDepth = 1669.759836; finalDepth = 1648.419731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1648.419731 # Seafloor depth: -1698.419731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 75.949368 meters # Minimum depth: 1719.759836 meters looking forward 0.000000 meters along route # Maximum depth: 1719.759836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.759836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697187; longitude = -122.118955; captureRadius = 10; duration = 151; initialDepth = 1692.531174; finalDepth = 1669.759836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1669.759836 # Seafloor depth: -1719.759836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212470 meters # Minimum depth: 1742.531174 meters looking forward 0.000000 meters along route # Maximum depth: 1742.531174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.531174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697870; longitude = -122.119017; captureRadius = 10; duration = 160; initialDepth = 1725.307599; finalDepth = 1692.531174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1692.531174 # Seafloor depth: -1742.531174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212475 meters # Minimum depth: 1775.307599 meters looking forward 0.000000 meters along route # Maximum depth: 1775.307599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.307599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698591; longitude = -122.119083; captureRadius = 10; duration = 160; initialDepth = 1734.743757; finalDepth = 1725.307599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1725.307599 # Seafloor depth: -1775.307599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212479 meters # Minimum depth: 1784.743757 meters looking forward 0.000000 meters along route # Maximum depth: 1784.743757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.743757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699312; longitude = -122.119148; captureRadius = 10; duration = 160; initialDepth = 1719.012120; finalDepth = 1734.743757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1734.743757 # Seafloor depth: -1784.743757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212484 meters # Minimum depth: 1769.012120 meters looking forward 0.000000 meters along route # Maximum depth: 1769.012120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.012120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700033; longitude = -122.119214; captureRadius = 10; duration = 160; initialDepth = 1672.730539; finalDepth = 1719.012120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1719.01212 # Seafloor depth: -1769.012120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212488 meters # Minimum depth: 1722.730539 meters looking forward 0.000000 meters along route # Maximum depth: 1722.730539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.730539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700755; longitude = -122.119280; captureRadius = 10; duration = 160; initialDepth = 1626.584686; finalDepth = 1672.730539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.730539 # Seafloor depth: -1722.730539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212494 meters # Minimum depth: 1676.584686 meters looking forward 0.000000 meters along route # Maximum depth: 1676.584686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.584686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701476; longitude = -122.119345; captureRadius = 10; duration = 160; initialDepth = 1597.112518; finalDepth = 1626.584686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1626.584686 # Seafloor depth: -1676.584686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212498 meters # Minimum depth: 1647.112518 meters looking forward 0.000000 meters along route # Maximum depth: 1647.112518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.112518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702197; longitude = -122.119411; captureRadius = 10; duration = 160; initialDepth = 1582.022683; finalDepth = 1597.112518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1597.112518 # Seafloor depth: -1647.112518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212502 meters # Minimum depth: 1632.022683 meters looking forward 0.000000 meters along route # Maximum depth: 1632.022683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.022683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702918; longitude = -122.119476; captureRadius = 10; duration = 160; initialDepth = 1573.852402; finalDepth = 1582.022683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1582.022683 # Seafloor depth: -1632.022683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212508 meters # Minimum depth: 1623.852402 meters looking forward 0.000000 meters along route # Maximum depth: 1623.852402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.852402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703639; longitude = -122.119542; captureRadius = 10; duration = 160; initialDepth = 1575.309173; finalDepth = 1573.852402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1573.852402 # Seafloor depth: -1623.852402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212512 meters # Minimum depth: 1625.309173 meters looking forward 0.000000 meters along route # Maximum depth: 1625.309173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.309173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704360; longitude = -122.119607; captureRadius = 10; duration = 160; initialDepth = 1598.365742; finalDepth = 1575.309173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1575.309173 # Seafloor depth: -1625.309173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 81.283807 meters # Minimum depth: 1648.365742 meters looking forward 0.000000 meters along route # Maximum depth: 1648.365742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.365742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705081; longitude = -122.119673; captureRadius = 10; duration = 162; initialDepth = 1633.119532; finalDepth = 1598.365742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1598.365742 # Seafloor depth: -1648.365742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 79.141231 meters # Minimum depth: 1683.119532 meters looking forward 0.000000 meters along route # Maximum depth: 1683.119532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.119532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705812; longitude = -122.119739; captureRadius = 10; duration = 158; initialDepth = 1632.483238; finalDepth = 1633.119532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1633.119532 # Seafloor depth: -1683.119532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 80.212525 meters # Minimum depth: 1682.483238 meters looking forward 0.000000 meters along route # Maximum depth: 1682.483238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.483238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706524; longitude = -122.119804; captureRadius = 10; duration = 160; initialDepth = 1655.798994; finalDepth = 1632.483238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1632.483238 # Seafloor depth: -1682.483238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 76.568163 meters # Minimum depth: 1705.798994 meters looking forward 0.000000 meters along route # Maximum depth: 1705.798994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.798994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707245; longitude = -122.119869; captureRadius = 10; duration = 153; initialDepth = 1625.811737; finalDepth = 1655.798994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1655.798994 # Seafloor depth: -1705.798994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 122.500153 meters # Minimum depth: 1675.811737 meters looking forward 0.000000 meters along route # Maximum depth: 1675.811737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.811737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707933; longitude = -122.119932; captureRadius = 10; duration = 245; # abortOnTimeout = True; initialDepth = 1656.864341; finalDepth = 1625.811737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1625.811737 # Seafloor depth: -1675.811737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 75.461092 meters # Minimum depth: 1706.864341 meters looking forward 0.000000 meters along route # Maximum depth: 1706.864341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.864341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708957; longitude = -122.119420; captureRadius = 10; duration = 150; initialDepth = 1673.736639; finalDepth = 1656.864341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1656.864341 # Seafloor depth: -1706.864341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 75.461017 meters # Minimum depth: 1723.736639 meters looking forward 0.000000 meters along route # Maximum depth: 1723.736639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.736639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709588; longitude = -122.119104; captureRadius = 10; duration = 150; initialDepth = 1683.805058; finalDepth = 1673.736639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1673.736639 # Seafloor depth: -1723.736639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 75.460942 meters # Minimum depth: 1733.805058 meters looking forward 0.000000 meters along route # Maximum depth: 1733.805058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.805058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710219; longitude = -122.118789; captureRadius = 10; duration = 150; initialDepth = 1648.421595; finalDepth = 1683.805058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1683.805058 # Seafloor depth: -1733.805058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 76.987597 meters # Minimum depth: 1698.421595 meters looking forward 0.000000 meters along route # Maximum depth: 1698.421595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.421595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710850; longitude = -122.118473; captureRadius = 10; duration = 153; initialDepth = 1634.286102; finalDepth = 1648.421595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1648.421595 # Seafloor depth: -1698.421595 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 114.821299 meters # Minimum depth: 1684.286102 meters looking forward 0.000000 meters along route # Maximum depth: 1684.286102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.286102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711494; longitude = -122.118151; captureRadius = 10; duration = 229; # abortOnTimeout = True; initialDepth = 1646.448285; finalDepth = 1634.286102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1634.286102 # Seafloor depth: -1684.286102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 82.011567 meters # Minimum depth: 1696.448285 meters looking forward 0.000000 meters along route # Maximum depth: 1696.448285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.448285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.711148; longitude = -122.116939; captureRadius = 10; duration = 164; initialDepth = 1658.380341; finalDepth = 1646.448285; 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: 1646.448285 # Seafloor depth: -1696.448285 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 107.471281 meters # Minimum depth: 1708.380341 meters looking forward 0.000000 meters along route # Maximum depth: 1708.380341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.380341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710901; longitude = -122.116074; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 1677.115687; finalDepth = 1658.380341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1658.380341 # Seafloor depth: -1708.380341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 76.968768 meters # Minimum depth: 1727.115687 meters looking forward 0.000000 meters along route # Maximum depth: 1727.115687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.115687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.710031; longitude = -122.116603; captureRadius = 10; duration = 153; initialDepth = 1699.980577; finalDepth = 1677.115687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1677.115687 # Seafloor depth: -1727.115687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 77.949907 meters # Minimum depth: 1749.980577 meters looking forward 0.000000 meters along route # Maximum depth: 1749.980577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.980577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.709408; longitude = -122.116983; captureRadius = 10; duration = 155; initialDepth = 1714.413014; finalDepth = 1699.980577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1699.980577 # Seafloor depth: -1749.980577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 77.950019 meters # Minimum depth: 1764.413014 meters looking forward 0.000000 meters along route # Maximum depth: 1764.413014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.413014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708777; longitude = -122.117367; captureRadius = 10; duration = 155; initialDepth = 1705.924152; finalDepth = 1714.413014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.413014 # Seafloor depth: -1764.413014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 81.293319 meters # Minimum depth: 1755.924152 meters looking forward 0.000000 meters along route # Maximum depth: 1755.924152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.924152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.708146; longitude = -122.117751; captureRadius = 10; duration = 162; initialDepth = 1679.627350; finalDepth = 1705.924152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1705.924152 # Seafloor depth: -1755.924152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 117.331070 meters # Minimum depth: 1729.627350 meters looking forward 0.000000 meters along route # Maximum depth: 1729.627350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.627350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707488; longitude = -122.118151; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 1696.943691; finalDepth = 1679.627350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1679.62735 # Seafloor depth: -1729.627350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 80.227886 meters # Minimum depth: 1746.943691 meters looking forward 0.000000 meters along route # Maximum depth: 1746.943691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.943691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706433; longitude = -122.118052; captureRadius = 10; duration = 160; initialDepth = 1680.928587; finalDepth = 1696.943691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1696.943691 # Seafloor depth: -1746.943691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227882 meters # Minimum depth: 1730.928587 meters looking forward 0.000000 meters along route # Maximum depth: 1730.928587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.928587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705712; longitude = -122.117984; captureRadius = 10; duration = 160; initialDepth = 1649.069521; finalDepth = 1680.928587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1680.928587 # Seafloor depth: -1730.928587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227877 meters # Minimum depth: 1699.069521 meters looking forward 0.000000 meters along route # Maximum depth: 1699.069521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.069521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704991; longitude = -122.117916; captureRadius = 10; duration = 160; initialDepth = 1652.177932; finalDepth = 1649.069521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1649.069521 # Seafloor depth: -1699.069521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227873 meters # Minimum depth: 1702.177932 meters looking forward 0.000000 meters along route # Maximum depth: 1702.177932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.177932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704270; longitude = -122.117848; captureRadius = 10; duration = 160; initialDepth = 1649.223158; finalDepth = 1652.177932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1652.177932 # Seafloor depth: -1702.177932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227869 meters # Minimum depth: 1699.223158 meters looking forward 0.000000 meters along route # Maximum depth: 1699.223158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.223158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703549; longitude = -122.117780; captureRadius = 10; duration = 160; initialDepth = 1643.352242; finalDepth = 1649.223158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1649.223158 # Seafloor depth: -1699.223158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227864 meters # Minimum depth: 1693.352242 meters looking forward 0.000000 meters along route # Maximum depth: 1693.352242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.352242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702828; longitude = -122.117712; captureRadius = 10; duration = 160; initialDepth = 1652.182396; finalDepth = 1643.352242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1643.352242 # Seafloor depth: -1693.352242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227860 meters # Minimum depth: 1702.182396 meters looking forward 0.000000 meters along route # Maximum depth: 1702.182396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.182396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702107; longitude = -122.117645; captureRadius = 10; duration = 160; initialDepth = 1673.129464; finalDepth = 1652.182396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1652.182396 # Seafloor depth: -1702.182396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227855 meters # Minimum depth: 1723.129464 meters looking forward 0.000000 meters along route # Maximum depth: 1723.129464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.129464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701386; longitude = -122.117577; captureRadius = 10; duration = 160; initialDepth = 1679.567609; finalDepth = 1673.129464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1673.129464 # Seafloor depth: -1723.129464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227852 meters # Minimum depth: 1729.567609 meters looking forward 0.000000 meters along route # Maximum depth: 1729.567609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.567609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700664; longitude = -122.117509; captureRadius = 10; duration = 160; initialDepth = 1716.978470; finalDepth = 1679.567609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1679.567609 # Seafloor depth: -1729.567609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227846 meters # Minimum depth: 1767.402813 meters looking forward 0.000000 meters along route # Maximum depth: 1767.402813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.978470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699943; longitude = -122.117441; captureRadius = 10; duration = 160; initialDepth = 1754.389328; finalDepth = 1716.978470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4243429420574 # Actual altitude: 50.4243429420574 # Commanded vehicle depth: 1716.97847005794 # Seafloor depth: -1767.402813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227843 meters # Minimum depth: 1806.693604 meters looking forward 0.000000 meters along route # Maximum depth: 1806.693604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.389328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699222; longitude = -122.117373; captureRadius = 10; duration = 160; initialDepth = 1765.264643; finalDepth = 1754.389328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3042756819548 # Actual altitude: 52.3042756819548 # Commanded vehicle depth: 1754.38932831805 # Seafloor depth: -1806.693604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227838 meters # Minimum depth: 1815.264643 meters looking forward 0.000000 meters along route # Maximum depth: 1815.264643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.264643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698501; longitude = -122.117305; captureRadius = 10; duration = 160; initialDepth = 1751.604847; finalDepth = 1765.264643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3042756819548 # Actual altitude: 52.3042756819548 # Commanded vehicle depth: 1765.264643 # Seafloor depth: -1815.264643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227834 meters # Minimum depth: 1801.604847 meters looking forward 0.000000 meters along route # Maximum depth: 1801.604847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.604847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697780; longitude = -122.117237; captureRadius = 10; duration = 160; initialDepth = 1731.377349; finalDepth = 1751.604847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.604847 # Seafloor depth: -1801.604847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227830 meters # Minimum depth: 1781.377349 meters looking forward 0.000000 meters along route # Maximum depth: 1781.377349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.377349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697059; longitude = -122.117170; captureRadius = 10; duration = 160; initialDepth = 1700.050955; finalDepth = 1731.377349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1731.377349 # Seafloor depth: -1781.377349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 80.227825 meters # Minimum depth: 1750.050955 meters looking forward 0.000000 meters along route # Maximum depth: 1750.050955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.050955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696338; longitude = -122.117102; captureRadius = 10; duration = 160; initialDepth = 1732.201468; finalDepth = 1700.050955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.050955 # Seafloor depth: -1750.050955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 82.611360 meters # Minimum depth: 1782.201468 meters looking forward 0.000000 meters along route # Maximum depth: 1782.201468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.201468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695617; longitude = -122.117034; captureRadius = 10; duration = 165; initialDepth = 1739.375793; finalDepth = 1732.201468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.201468 # Seafloor depth: -1782.201468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 123.473243 meters # Minimum depth: 1789.375793 meters looking forward 0.000000 meters along route # Maximum depth: 1789.375793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.375793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694874; longitude = -122.116964; captureRadius = 10; duration = 246; # abortOnTimeout = True; initialDepth = 1740.918765; finalDepth = 1739.375793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.375793 # Seafloor depth: -1789.375793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 83.978899 meters # Minimum depth: 1790.918765 meters looking forward 0.000000 meters along route # Maximum depth: 1790.918765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.918765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693814; longitude = -122.116544; captureRadius = 10; duration = 167; initialDepth = 1727.020960; finalDepth = 1740.918765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1740.918765 # Seafloor depth: -1790.918765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.978967 meters # Minimum depth: 1777.020960 meters looking forward 0.000000 meters along route # Maximum depth: 1777.020960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.020960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693093; longitude = -122.116258; captureRadius = 10; duration = 167; initialDepth = 1727.720733; finalDepth = 1727.020960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.02096 # Seafloor depth: -1777.020960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 77.567080 meters # Minimum depth: 1777.720733 meters looking forward 0.000000 meters along route # Maximum depth: 1777.720733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.720733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692371; longitude = -122.115972; captureRadius = 10; duration = 155; initialDepth = 1737.127022; finalDepth = 1727.720733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.720733 # Seafloor depth: -1777.720733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 79.893665 meters # Minimum depth: 1787.127022 meters looking forward 0.000000 meters along route # Maximum depth: 1787.127022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.127022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691705; longitude = -122.115707; captureRadius = 10; duration = 159; initialDepth = 1730.156589; finalDepth = 1737.127022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.127022 # Seafloor depth: -1787.127022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 84.548486 meters # Minimum depth: 1780.156589 meters looking forward 0.000000 meters along route # Maximum depth: 1780.156589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.156589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691019; longitude = -122.115435; captureRadius = 10; duration = 169; initialDepth = 1744.700521; finalDepth = 1730.156589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1730.156589 # Seafloor depth: -1780.156589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.409904 meters # Minimum depth: 1794.700521 meters looking forward 0.000000 meters along route # Maximum depth: 1794.700521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.700521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690293; longitude = -122.115148; captureRadius = 10; duration = 166; initialDepth = 1754.826101; finalDepth = 1744.700521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.700521 # Seafloor depth: -1794.700521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.979297 meters # Minimum depth: 1804.826101 meters looking forward 0.000000 meters along route # Maximum depth: 1804.826101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.826101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689577; longitude = -122.114863; captureRadius = 10; duration = 167; initialDepth = 1760.276180; finalDepth = 1754.826101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.826101 # Seafloor depth: -1804.826101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.979364 meters # Minimum depth: 1810.276180 meters looking forward 0.000000 meters along route # Maximum depth: 1810.276180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.276180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688856; longitude = -122.114578; captureRadius = 10; duration = 167; initialDepth = 1770.793858; finalDepth = 1760.276180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.27618 # Seafloor depth: -1810.276180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 77.516515 meters # Minimum depth: 1820.793858 meters looking forward 0.000000 meters along route # Maximum depth: 1820.793858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.793858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688135; longitude = -122.114292; captureRadius = 10; duration = 155; initialDepth = 1781.747779; finalDepth = 1770.793858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.793858 # Seafloor depth: -1820.793858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 79.944975 meters # Minimum depth: 1831.747779 meters looking forward 0.000000 meters along route # Maximum depth: 1831.747779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.747779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687469; longitude = -122.114028; captureRadius = 10; duration = 159; initialDepth = 1782.276242; finalDepth = 1781.747779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1781.747779 # Seafloor depth: -1831.747779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 84.497954 meters # Minimum depth: 1832.276242 meters looking forward 0.000000 meters along route # Maximum depth: 1832.276242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.276242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686783; longitude = -122.113755; captureRadius = 10; duration = 168; initialDepth = 1782.233951; finalDepth = 1782.276242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.276242 # Seafloor depth: -1832.276242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.461230 meters # Minimum depth: 1832.233951 meters looking forward 0.000000 meters along route # Maximum depth: 1832.233951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.233951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686057; longitude = -122.113468; captureRadius = 10; duration = 166; initialDepth = 1780.844802; finalDepth = 1782.233951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.233951 # Seafloor depth: -1832.233951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.979694 meters # Minimum depth: 1830.844802 meters looking forward 0.000000 meters along route # Maximum depth: 1830.844802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.844802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685341; longitude = -122.113183; captureRadius = 10; duration = 167; initialDepth = 1776.519869; finalDepth = 1780.844802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.844802 # Seafloor depth: -1830.844802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.979762 meters # Minimum depth: 1826.519869 meters looking forward 0.000000 meters along route # Maximum depth: 1826.519869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.519869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684619; longitude = -122.112897; captureRadius = 10; duration = 167; initialDepth = 1780.496782; finalDepth = 1776.519869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1776.519869 # Seafloor depth: -1826.519869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 77.465951 meters # Minimum depth: 1830.496782 meters looking forward 0.000000 meters along route # Maximum depth: 1830.496782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.496782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683898; longitude = -122.112611; captureRadius = 10; duration = 154; initialDepth = 1791.833705; finalDepth = 1780.496782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.496782 # Seafloor depth: -1830.496782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 79.996284 meters # Minimum depth: 1841.833705 meters looking forward 0.000000 meters along route # Maximum depth: 1841.833705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.833705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683233; longitude = -122.112348; captureRadius = 10; duration = 159; initialDepth = 1805.558516; finalDepth = 1791.833705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.833705 # Seafloor depth: -1841.833705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 84.447423 meters # Minimum depth: 1855.558516 meters looking forward 0.000000 meters along route # Maximum depth: 1855.558516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.558516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682546; longitude = -122.112075; captureRadius = 10; duration = 168; initialDepth = 1818.273037; finalDepth = 1805.558516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1805.558516 # Seafloor depth: -1855.558516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.512556 meters # Minimum depth: 1868.273037 meters looking forward 0.000000 meters along route # Maximum depth: 1868.273037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.273037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681821; longitude = -122.111788; captureRadius = 10; duration = 167; initialDepth = 1838.123242; finalDepth = 1818.273037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.273037 # Seafloor depth: -1868.273037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.980091 meters # Minimum depth: 1888.123242 meters looking forward 0.000000 meters along route # Maximum depth: 1888.123242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.123242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681104; longitude = -122.111503; captureRadius = 10; duration = 167; initialDepth = 1855.694233; finalDepth = 1838.123242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1838.123242 # Seafloor depth: -1888.123242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 83.980159 meters # Minimum depth: 1905.694233 meters looking forward 0.000000 meters along route # Maximum depth: 1905.694233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.694233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680383; longitude = -122.111217; captureRadius = 10; duration = 167; initialDepth = 1861.359793; finalDepth = 1855.694233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1855.694233 # Seafloor depth: -1905.694233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 77.415386 meters # Minimum depth: 1911.359793 meters looking forward 0.000000 meters along route # Maximum depth: 1911.359793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.359793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679662; longitude = -122.110931; captureRadius = 10; duration = 154; initialDepth = 1872.514097; finalDepth = 1861.359793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1861.359793 # Seafloor depth: -1911.359793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 80.047594 meters # Minimum depth: 1922.514097 meters looking forward 0.000000 meters along route # Maximum depth: 1922.514097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.514097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678997; longitude = -122.110668; captureRadius = 10; duration = 160; initialDepth = 1883.268993; finalDepth = 1872.514097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.514097 # Seafloor depth: -1922.514097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 75.536280 meters # Minimum depth: 1933.268993 meters looking forward 0.000000 meters along route # Maximum depth: 1933.268993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.268993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678310; longitude = -122.110395; captureRadius = 10; duration = 151; initialDepth = 1900.086395; finalDepth = 1883.268993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1883.268993 # Seafloor depth: -1933.268993 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 109.163812 meters # Minimum depth: 1950.086395 meters looking forward 0.000000 meters along route # Maximum depth: 1950.086395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.086395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677661; longitude = -122.110138; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1907.583824; finalDepth = 1900.086395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1900.086395 # Seafloor depth: -1950.086395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 78.119661 meters # Minimum depth: 1957.583824 meters looking forward 0.000000 meters along route # Maximum depth: 1957.583824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.583824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678180; longitude = -122.109100; captureRadius = 10; duration = 156; initialDepth = 1926.468719; finalDepth = 1907.583824; 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: 1907.583824 # Seafloor depth: -1957.583824 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 76.831754 meters # Minimum depth: 1976.468719 meters looking forward 0.000000 meters along route # Maximum depth: 1976.468719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.468719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678551; longitude = -122.108357; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 1914.788024; finalDepth = 1926.468719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1926.468719 # Seafloor depth: -1976.468719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 76.189342 meters # Minimum depth: 1964.788024 meters looking forward 0.000000 meters along route # Maximum depth: 1964.788024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.788024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679211; longitude = -122.108618; captureRadius = 10; duration = 152; initialDepth = 1874.225742; finalDepth = 1914.788024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1914.788024 # Seafloor depth: -1964.788024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 81.207143 meters # Minimum depth: 1924.225742 meters looking forward 0.000000 meters along route # Maximum depth: 1924.225742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.225742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679866; longitude = -122.108876; captureRadius = 10; duration = 162; initialDepth = 1851.757933; finalDepth = 1874.225742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1874.225742 # Seafloor depth: -1924.225742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944695 meters # Minimum depth: 1901.757933 meters looking forward 0.000000 meters along route # Maximum depth: 1901.757933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.757933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680563; longitude = -122.109151; captureRadius = 10; duration = 167; initialDepth = 1828.279942; finalDepth = 1851.757933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1851.757933 # Seafloor depth: -1901.757933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944629 meters # Minimum depth: 1878.279942 meters looking forward 0.000000 meters along route # Maximum depth: 1878.279942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.279942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681284; longitude = -122.109436; captureRadius = 10; duration = 167; initialDepth = 1799.973389; finalDepth = 1828.279942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1828.279942 # Seafloor depth: -1878.279942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944562 meters # Minimum depth: 1849.973389 meters looking forward 0.000000 meters along route # Maximum depth: 1849.973389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.973389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682005; longitude = -122.109721; captureRadius = 10; duration = 167; initialDepth = 1786.544744; finalDepth = 1799.973389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.973389 # Seafloor depth: -1849.973389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944494 meters # Minimum depth: 1836.544744 meters looking forward 0.000000 meters along route # Maximum depth: 1836.544744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.544744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682726; longitude = -122.110005; captureRadius = 10; duration = 167; initialDepth = 1817.689925; finalDepth = 1786.544744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1786.544744 # Seafloor depth: -1836.544744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944428 meters # Minimum depth: 1867.689925 meters looking forward 0.000000 meters along route # Maximum depth: 1867.689925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.689925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683448; longitude = -122.110290; captureRadius = 10; duration = 167; initialDepth = 1830.147339; finalDepth = 1817.689925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1817.689925 # Seafloor depth: -1867.689925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944361 meters # Minimum depth: 1880.147339 meters looking forward 0.000000 meters along route # Maximum depth: 1880.147339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.147339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684169; longitude = -122.110575; captureRadius = 10; duration = 167; initialDepth = 1847.602118; finalDepth = 1830.147339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1830.147339 # Seafloor depth: -1880.147339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 75.637863 meters # Minimum depth: 1897.602118 meters looking forward 0.000000 meters along route # Maximum depth: 1897.602118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.602118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684890; longitude = -122.110859; captureRadius = 10; duration = 151; initialDepth = 1840.067577; finalDepth = 1847.602118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1847.602118 # Seafloor depth: -1897.602118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 81.757632 meters # Minimum depth: 1890.067577 meters looking forward 0.000000 meters along route # Maximum depth: 1890.067577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.067577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685540; longitude = -122.111116; captureRadius = 10; duration = 163; initialDepth = 1822.521071; finalDepth = 1840.067577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.067577 # Seafloor depth: -1890.067577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944168 meters # Minimum depth: 1872.521071 meters looking forward 0.000000 meters along route # Maximum depth: 1872.521071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.521071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686242; longitude = -122.111393; captureRadius = 10; duration = 167; initialDepth = 1809.267168; finalDepth = 1822.521071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.521071 # Seafloor depth: -1872.521071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944102 meters # Minimum depth: 1859.267168 meters looking forward 0.000000 meters along route # Maximum depth: 1859.267168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.267168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686963; longitude = -122.111678; captureRadius = 10; duration = 167; initialDepth = 1799.490666; finalDepth = 1809.267168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1809.267168 # Seafloor depth: -1859.267168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.944034 meters # Minimum depth: 1849.490666 meters looking forward 0.000000 meters along route # Maximum depth: 1849.490666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.490666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687684; longitude = -122.111962; captureRadius = 10; duration = 167; initialDepth = 1802.781472; finalDepth = 1799.490666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1799.490666 # Seafloor depth: -1849.490666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.943967 meters # Minimum depth: 1852.781472 meters looking forward 0.000000 meters along route # Maximum depth: 1852.781472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.781472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688405; longitude = -122.112247; captureRadius = 10; duration = 167; initialDepth = 1802.089216; finalDepth = 1802.781472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.781472 # Seafloor depth: -1852.781472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.943900 meters # Minimum depth: 1852.089216 meters looking forward 0.000000 meters along route # Maximum depth: 1852.089216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.089216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689126; longitude = -122.112532; captureRadius = 10; duration = 167; initialDepth = 1800.552013; finalDepth = 1802.089216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.089216 # Seafloor depth: -1852.089216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.943833 meters # Minimum depth: 1850.552013 meters looking forward 0.000000 meters along route # Maximum depth: 1850.552013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.552013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689848; longitude = -122.112816; captureRadius = 10; duration = 167; initialDepth = 1789.889309; finalDepth = 1800.552013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1800.552013 # Seafloor depth: -1850.552013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 75.086391 meters # Minimum depth: 1839.889309 meters looking forward 0.000000 meters along route # Maximum depth: 1839.889309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.889309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690569; longitude = -122.113101; captureRadius = 10; duration = 150; initialDepth = 1791.114386; finalDepth = 1789.889309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.889309 # Seafloor depth: -1839.889309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 82.308116 meters # Minimum depth: 1841.114386 meters looking forward 0.000000 meters along route # Maximum depth: 1841.114386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.114386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691214; longitude = -122.113356; captureRadius = 10; duration = 164; initialDepth = 1790.778683; finalDepth = 1791.114386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.114386 # Seafloor depth: -1841.114386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.943640 meters # Minimum depth: 1840.778683 meters looking forward 0.000000 meters along route # Maximum depth: 1840.778683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.778683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691921; longitude = -122.113635; captureRadius = 10; duration = 167; initialDepth = 1787.735224; finalDepth = 1790.778683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1790.778683 # Seafloor depth: -1840.778683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.943574 meters # Minimum depth: 1837.735224 meters looking forward 0.000000 meters along route # Maximum depth: 1837.735224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.735224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692642; longitude = -122.113919; captureRadius = 10; duration = 167; initialDepth = 1773.920853; finalDepth = 1787.735224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.735224 # Seafloor depth: -1837.735224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.943506 meters # Minimum depth: 1823.920853 meters looking forward 0.000000 meters along route # Maximum depth: 1823.920853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.920853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693363; longitude = -122.114204; captureRadius = 10; duration = 167; initialDepth = 1775.078126; finalDepth = 1773.920853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1773.920853 # Seafloor depth: -1823.920853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 83.943440 meters # Minimum depth: 1825.078126 meters looking forward 0.000000 meters along route # Maximum depth: 1825.078126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.078126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694084; longitude = -122.114489; captureRadius = 10; duration = 167; initialDepth = 1784.062546; finalDepth = 1775.078126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.078126 # Seafloor depth: -1825.078126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 77.144512 meters # Minimum depth: 1834.062546 meters looking forward 0.000000 meters along route # Maximum depth: 1834.062546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.062546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694805; longitude = -122.114773; captureRadius = 10; duration = 154; initialDepth = 1778.466248; finalDepth = 1784.062546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.062546 # Seafloor depth: -1834.062546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 56.703854 meters # Minimum depth: 1828.466248 meters looking forward 0.000000 meters along route # Maximum depth: 1828.466248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.466248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695468; longitude = -122.115035; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 1776.027961; finalDepth = 1778.466248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.466248 # Seafloor depth: -1828.466248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 80.317821 meters # Minimum depth: 1826.027961 meters looking forward 0.000000 meters along route # Maximum depth: 1826.027961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.027961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695977; longitude = -122.115092; captureRadius = 10; duration = 160; initialDepth = 1789.253082; finalDepth = 1776.027961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1776.027961 # Seafloor depth: -1826.027961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317823 meters # Minimum depth: 1839.253082 meters looking forward 0.000000 meters along route # Maximum depth: 1839.253082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.253082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696698; longitude = -122.115172; captureRadius = 10; duration = 160; initialDepth = 1807.195007; finalDepth = 1789.253082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.253082 # Seafloor depth: -1839.253082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317826 meters # Minimum depth: 1857.195007 meters looking forward 0.000000 meters along route # Maximum depth: 1857.195007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.195007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697419; longitude = -122.115252; captureRadius = 10; duration = 160; initialDepth = 1800.360562; finalDepth = 1807.195007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.195007 # Seafloor depth: -1857.195007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317829 meters # Minimum depth: 1850.360562 meters looking forward 0.000000 meters along route # Maximum depth: 1850.360562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.360562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698140; longitude = -122.115332; captureRadius = 10; duration = 160; initialDepth = 1778.202071; finalDepth = 1800.360562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1800.360562 # Seafloor depth: -1850.360562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317831 meters # Minimum depth: 1828.202071 meters looking forward 0.000000 meters along route # Maximum depth: 1828.202071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.202071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698862; longitude = -122.115412; captureRadius = 10; duration = 160; initialDepth = 1760.768968; finalDepth = 1778.202071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.202071 # Seafloor depth: -1828.202071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317833 meters # Minimum depth: 1810.768968 meters looking forward 0.000000 meters along route # Maximum depth: 1810.768968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.768968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699583; longitude = -122.115492; captureRadius = 10; duration = 160; initialDepth = 1763.268028; finalDepth = 1760.768968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1760.768968 # Seafloor depth: -1810.768968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317836 meters # Minimum depth: 1813.268028 meters looking forward 0.000000 meters along route # Maximum depth: 1813.268028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.268028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700304; longitude = -122.115572; captureRadius = 10; duration = 160; initialDepth = 1729.705350; finalDepth = 1763.268028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.268028 # Seafloor depth: -1813.268028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317839 meters # Minimum depth: 1779.705350 meters looking forward 0.000000 meters along route # Maximum depth: 1779.705350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.705350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701025; longitude = -122.115652; captureRadius = 10; duration = 160; initialDepth = 1685.991924; finalDepth = 1729.705350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1729.70535 # Seafloor depth: -1779.705350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317841 meters # Minimum depth: 1735.991924 meters looking forward 0.000000 meters along route # Maximum depth: 1735.991924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.991924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701746; longitude = -122.115732; captureRadius = 10; duration = 160; initialDepth = 1679.846286; finalDepth = 1685.991924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1685.991924 # Seafloor depth: -1735.991924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317843 meters # Minimum depth: 1729.846286 meters looking forward 0.000000 meters along route # Maximum depth: 1729.846286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.846286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702467; longitude = -122.115812; captureRadius = 10; duration = 160; initialDepth = 1714.287334; finalDepth = 1679.846286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1679.846286 # Seafloor depth: -1729.846286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317846 meters # Minimum depth: 1764.287334 meters looking forward 0.000000 meters along route # Maximum depth: 1764.287334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.287334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703188; longitude = -122.115892; captureRadius = 10; duration = 160; initialDepth = 1714.631276; finalDepth = 1714.287334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.287334 # Seafloor depth: -1764.287334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317848 meters # Minimum depth: 1764.631276 meters looking forward 0.000000 meters along route # Maximum depth: 1764.631276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.631276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703909; longitude = -122.115973; captureRadius = 10; duration = 160; initialDepth = 1702.697676; finalDepth = 1714.631276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.631276 # Seafloor depth: -1764.631276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317851 meters # Minimum depth: 1752.697676 meters looking forward 0.000000 meters along route # Maximum depth: 1752.697676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.697676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704631; longitude = -122.116053; captureRadius = 10; duration = 160; initialDepth = 1694.517731; finalDepth = 1702.697676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.697676 # Seafloor depth: -1752.697676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317854 meters # Minimum depth: 1744.517731 meters looking forward 0.000000 meters along route # Maximum depth: 1744.517731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.517731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705352; longitude = -122.116133; captureRadius = 10; duration = 160; initialDepth = 1711.335755; finalDepth = 1694.517731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1694.517731 # Seafloor depth: -1744.517731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 80.317855 meters # Minimum depth: 1761.335755 meters looking forward 0.000000 meters along route # Maximum depth: 1761.335755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.335755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706073; longitude = -122.116213; captureRadius = 10; duration = 160; initialDepth = 1732.233441; finalDepth = 1711.335755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1711.335755 # Seafloor depth: -1761.335755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 77.303716 meters # Minimum depth: 1782.233441 meters looking forward 0.000000 meters along route # Maximum depth: 1782.233441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.233441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706794; longitude = -122.116293; captureRadius = 10; duration = 154; initialDepth = 1732.865021; finalDepth = 1732.233441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.233441 # Seafloor depth: -1782.233441 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 109.628908 meters # Minimum depth: 1782.865021 meters looking forward 0.000000 meters along route # Maximum depth: 1782.865021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.865021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707488; longitude = -122.116370; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 1734.448735; finalDepth = 1732.865021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.865021 # Seafloor depth: -1782.865021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 76.629242 meters # Minimum depth: 1784.448735 meters looking forward 0.000000 meters along route # Maximum depth: 1784.448735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.448735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707400; longitude = -122.115148; captureRadius = 10; duration = 153; initialDepth = 1737.562317; finalDepth = 1734.448735; 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: 1734.448735 # Seafloor depth: -1784.448735 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 120.764715 meters # Minimum depth: 1787.562317 meters looking forward 0.000000 meters along route # Maximum depth: 1787.562317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.562317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.707339; longitude = -122.114293; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 1751.413781; finalDepth = 1737.562317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.562317 # Seafloor depth: -1787.562317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 80.197041 meters # Minimum depth: 1801.413781 meters looking forward 0.000000 meters along route # Maximum depth: 1801.413781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.413781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.706253; longitude = -122.114198; captureRadius = 10; duration = 160; initialDepth = 1735.051866; finalDepth = 1751.413781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.413781 # Seafloor depth: -1801.413781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.197035 meters # Minimum depth: 1785.051866 meters looking forward 0.000000 meters along route # Maximum depth: 1785.051866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.051866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.705532; longitude = -122.114135; captureRadius = 10; duration = 160; initialDepth = 1735.060512; finalDepth = 1735.051866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1735.051866 # Seafloor depth: -1785.051866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.197030 meters # Minimum depth: 1785.060512 meters looking forward 0.000000 meters along route # Maximum depth: 1785.060512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.060512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704811; longitude = -122.114072; captureRadius = 10; duration = 160; initialDepth = 1751.036922; finalDepth = 1735.060512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1735.060512 # Seafloor depth: -1785.060512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.197026 meters # Minimum depth: 1801.036922 meters looking forward 0.000000 meters along route # Maximum depth: 1801.036922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.036922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.704090; longitude = -122.114009; captureRadius = 10; duration = 160; initialDepth = 1775.960684; finalDepth = 1751.036922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.036922 # Seafloor depth: -1801.036922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.197020 meters # Minimum depth: 1825.960684 meters looking forward 0.000000 meters along route # Maximum depth: 1825.960684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.960684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.703369; longitude = -122.113945; captureRadius = 10; duration = 160; initialDepth = 1783.235422; finalDepth = 1775.960684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.960684 # Seafloor depth: -1825.960684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.197016 meters # Minimum depth: 1833.235422 meters looking forward 0.000000 meters along route # Maximum depth: 1833.235422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.235422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.702647; longitude = -122.113882; captureRadius = 10; duration = 160; initialDepth = 1786.605336; finalDepth = 1783.235422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1783.235422 # Seafloor depth: -1833.235422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.197010 meters # Minimum depth: 1836.605336 meters looking forward 0.000000 meters along route # Maximum depth: 1836.605336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.605336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701926; longitude = -122.113819; captureRadius = 10; duration = 160; initialDepth = 1797.689576; finalDepth = 1786.605336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1786.605336 # Seafloor depth: -1836.605336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 82.017307 meters # Minimum depth: 1847.689576 meters looking forward 0.000000 meters along route # Maximum depth: 1847.689576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.689576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.701205; longitude = -122.113756; captureRadius = 10; duration = 164; initialDepth = 1804.370561; finalDepth = 1797.689576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1797.689576 # Seafloor depth: -1847.689576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 78.376699 meters # Minimum depth: 1854.370561 meters looking forward 0.000000 meters along route # Maximum depth: 1854.370561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.370561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.700468; longitude = -122.113692; captureRadius = 10; duration = 156; initialDepth = 1810.767923; finalDepth = 1804.370561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.370561 # Seafloor depth: -1854.370561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.196996 meters # Minimum depth: 1860.767923 meters looking forward 0.000000 meters along route # Maximum depth: 1860.767923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.767923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699763; longitude = -122.113630; captureRadius = 10; duration = 160; initialDepth = 1820.176937; finalDepth = 1810.767923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.767923 # Seafloor depth: -1860.767923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.196990 meters # Minimum depth: 1870.176937 meters looking forward 0.000000 meters along route # Maximum depth: 1870.176937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.176937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.699042; longitude = -122.113567; captureRadius = 10; duration = 160; initialDepth = 1824.497596; finalDepth = 1820.176937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1820.176937 # Seafloor depth: -1870.176937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.196986 meters # Minimum depth: 1874.497596 meters looking forward 0.000000 meters along route # Maximum depth: 1874.497596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.497596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.698321; longitude = -122.113504; captureRadius = 10; duration = 160; initialDepth = 1827.102428; finalDepth = 1824.497596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1824.497596 # Seafloor depth: -1874.497596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.196980 meters # Minimum depth: 1877.102428 meters looking forward 0.000000 meters along route # Maximum depth: 1877.102428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.102428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.697600; longitude = -122.113441; captureRadius = 10; duration = 160; initialDepth = 1832.962869; finalDepth = 1827.102428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1827.102428 # Seafloor depth: -1877.102428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 80.196976 meters # Minimum depth: 1882.962869 meters looking forward 0.000000 meters along route # Maximum depth: 1882.962869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.962869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696879; longitude = -122.113377; captureRadius = 10; duration = 160; initialDepth = 1836.693361; finalDepth = 1832.962869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1832.962869 # Seafloor depth: -1882.962869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 76.667778 meters # Minimum depth: 1886.693361 meters looking forward 0.000000 meters along route # Maximum depth: 1886.693361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.693361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.696157; longitude = -122.113314; captureRadius = 10; duration = 153; initialDepth = 1821.063080; finalDepth = 1836.693361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1836.693361 # Seafloor depth: -1886.693361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 65.811448 meters # Minimum depth: 1871.063080 meters looking forward 0.000000 meters along route # Maximum depth: 1871.063080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.063080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695468; longitude = -122.113254; captureRadius = 10; duration = 131; # abortOnTimeout = True; initialDepth = 1808.838166; finalDepth = 1821.063080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1821.06308 # Seafloor depth: -1871.063080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 75.023551 meters # Minimum depth: 1858.838166 meters looking forward 0.000000 meters along route # Maximum depth: 1858.838166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.838166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694906; longitude = -122.113020; captureRadius = 10; duration = 150; initialDepth = 1831.826786; finalDepth = 1808.838166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.838166 # Seafloor depth: -1858.838166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 82.223718 meters # Minimum depth: 1881.826786 meters looking forward 0.000000 meters along route # Maximum depth: 1881.826786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.826786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694264; longitude = -122.112752; captureRadius = 10; duration = 164; initialDepth = 1834.379110; finalDepth = 1831.826786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1831.826786 # Seafloor depth: -1881.826786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 75.993779 meters # Minimum depth: 1884.379110 meters looking forward 0.000000 meters along route # Maximum depth: 1884.379110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.379110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693562; longitude = -122.112460; captureRadius = 10; duration = 151; initialDepth = 1841.733980; finalDepth = 1834.379110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.37911 # Seafloor depth: -1884.379110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 81.253751 meters # Minimum depth: 1891.733980 meters looking forward 0.000000 meters along route # Maximum depth: 1891.733980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.733980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692912; longitude = -122.112189; captureRadius = 10; duration = 162; initialDepth = 1851.101550; finalDepth = 1841.733980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.73398 # Seafloor depth: -1891.733980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 76.964009 meters # Minimum depth: 1901.101550 meters looking forward 0.000000 meters along route # Maximum depth: 1901.101550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.101550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692218; longitude = -122.111900; captureRadius = 10; duration = 153; initialDepth = 1859.851959; finalDepth = 1851.101550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1851.10155 # Seafloor depth: -1901.101550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 84.382914 meters # Minimum depth: 1909.851959 meters looking forward 0.000000 meters along route # Maximum depth: 1909.851959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.851959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691560; longitude = -122.111626; captureRadius = 10; duration = 168; initialDepth = 1864.756628; finalDepth = 1859.851959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1859.851959 # Seafloor depth: -1909.851959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 98 # Segment length 83.445686 meters # Minimum depth: 1914.756628 meters looking forward 0.000000 meters along route # Maximum depth: 1914.756628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.756628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690839; longitude = -122.111325; captureRadius = 10; duration = 166; initialDepth = 1857.462555; finalDepth = 1864.756628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.756628 # Seafloor depth: -1914.756628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 138.460477 meters # Minimum depth: 1907.462555 meters looking forward 0.000000 meters along route # Maximum depth: 1907.462555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.462555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690126; longitude = -122.111028; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 1870.752944; finalDepth = 1857.462555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1857.462555 # Seafloor depth: -1907.462555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 82.883218 meters # Minimum depth: 1920.752944 meters looking forward 0.000000 meters along route # Maximum depth: 1920.752944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.752944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688946; longitude = -122.110522; captureRadius = 10; duration = 165; initialDepth = 1881.167098; finalDepth = 1870.752944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1870.752944 # Seafloor depth: -1920.752944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 75.794491 meters # Minimum depth: 1931.167098 meters looking forward 0.000000 meters along route # Maximum depth: 1931.167098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.167098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688240; longitude = -122.110220; captureRadius = 10; duration = 151; initialDepth = 1884.522631; finalDepth = 1881.167098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1881.167098 # Seafloor depth: -1931.167098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 77.568563 meters # Minimum depth: 1934.522631 meters looking forward 0.000000 meters along route # Maximum depth: 1934.522631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.522631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687594; longitude = -122.109943; captureRadius = 10; duration = 155; initialDepth = 1886.744251; finalDepth = 1884.522631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1884.522631 # Seafloor depth: -1934.522631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 81.109426 meters # Minimum depth: 1936.744251 meters looking forward 0.000000 meters along route # Maximum depth: 1936.744251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.744251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686933; longitude = -122.109660; captureRadius = 10; duration = 162; initialDepth = 1885.647461; finalDepth = 1886.744251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1886.744251 # Seafloor depth: -1936.744251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 84.628375 meters # Minimum depth: 1935.647461 meters looking forward 0.000000 meters along route # Maximum depth: 1935.647461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.647461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686242; longitude = -122.109364; captureRadius = 10; duration = 169; initialDepth = 1872.420847; finalDepth = 1885.647461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1885.647461 # Seafloor depth: -1935.647461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 79.643629 meters # Minimum depth: 1922.420847 meters looking forward 0.000000 meters along route # Maximum depth: 1922.420847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.420847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685521; longitude = -122.109055; captureRadius = 10; duration = 159; initialDepth = 1882.060896; finalDepth = 1872.420847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.420847 # Seafloor depth: -1922.420847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 79.034789 meters # Minimum depth: 1932.060896 meters looking forward 0.000000 meters along route # Maximum depth: 1932.060896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.060896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684842; longitude = -122.108764; captureRadius = 10; duration = 158; initialDepth = 1889.744195; finalDepth = 1882.060896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1882.060896 # Seafloor depth: -1932.060896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 84.628604 meters # Minimum depth: 1939.744195 meters looking forward 0.000000 meters along route # Maximum depth: 1939.744195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.744195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684169; longitude = -122.108475; captureRadius = 10; duration = 169; initialDepth = 1888.988597; finalDepth = 1889.744195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.744195 # Seafloor depth: -1939.744195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 81.718707 meters # Minimum depth: 1938.988597 meters looking forward 0.000000 meters along route # Maximum depth: 1938.988597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.988597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683448; longitude = -122.108166; captureRadius = 10; duration = 163; initialDepth = 1872.355178; finalDepth = 1888.988597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1888.988597 # Seafloor depth: -1938.988597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 76.960140 meters # Minimum depth: 1922.355178 meters looking forward 0.000000 meters along route # Maximum depth: 1922.355178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.355178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682751; longitude = -122.107868; captureRadius = 10; duration = 153; initialDepth = 1854.426780; finalDepth = 1872.355178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.355178 # Seafloor depth: -1922.355178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 76.404012 meters # Minimum depth: 1904.426780 meters looking forward 0.000000 meters along route # Maximum depth: 1904.426780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.426780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682096; longitude = -122.107587; captureRadius = 10; duration = 152; initialDepth = 1867.809231; finalDepth = 1854.426780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.42678 # Seafloor depth: -1904.426780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 78.332136 meters # Minimum depth: 1917.809231 meters looking forward 0.000000 meters along route # Maximum depth: 1917.809231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.809231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681444; longitude = -122.107308; captureRadius = 10; duration = 156; initialDepth = 1872.379303; finalDepth = 1867.809231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1867.809231 # Seafloor depth: -1917.809231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 97.940660 meters # Minimum depth: 1922.379303 meters looking forward 0.000000 meters along route # Maximum depth: 1922.379303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.379303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680777; longitude = -122.107022; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 1875.200577; finalDepth = 1872.379303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.379303 # Seafloor depth: -1922.379303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 83.596329 meters # Minimum depth: 1925.200577 meters looking forward 0.000000 meters along route # Maximum depth: 1925.200577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.200577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679932; longitude = -122.106704; captureRadius = 10; duration = 167; initialDepth = 1870.192766; finalDepth = 1875.200577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1875.200577 # Seafloor depth: -1925.200577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 75.218674 meters # Minimum depth: 1920.192766 meters looking forward 0.000000 meters along route # Maximum depth: 1920.192766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.192766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679211; longitude = -122.106432; captureRadius = 10; duration = 150; initialDepth = 1853.872796; finalDepth = 1870.192766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1870.192766 # Seafloor depth: -1920.192766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 81.524605 meters # Minimum depth: 1903.872796 meters looking forward 0.000000 meters along route # Maximum depth: 1903.872796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.872796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678562; longitude = -122.106188; captureRadius = 10; duration = 163; initialDepth = 1846.193981; finalDepth = 1853.872796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1853.872796 # Seafloor depth: -1903.872796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 83.596502 meters # Minimum depth: 1896.193981 meters looking forward 0.000000 meters along route # Maximum depth: 1896.193981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.193981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677859; longitude = -122.105923; captureRadius = 10; duration = 167; initialDepth = 1862.735408; finalDepth = 1846.193981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1846.193981 # Seafloor depth: -1896.193981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 76.249208 meters # Minimum depth: 1912.735408 meters looking forward 0.000000 meters along route # Maximum depth: 1912.735408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.735408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677138; longitude = -122.105652; captureRadius = 10; duration = 152; initialDepth = 1898.290997; finalDepth = 1862.735408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1862.735408 # Seafloor depth: -1912.735408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 80.494397 meters # Minimum depth: 1958.555079 meters looking forward 0.000000 meters along route # Maximum depth: 1958.555079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.290997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676480; longitude = -122.105404; captureRadius = 10; duration = 160; initialDepth = 1935.826150; finalDepth = 1898.290997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2640820722786 # Actual altitude: 60.2640820722786 # Commanded vehicle depth: 1898.29099692772 # Seafloor depth: -1958.555079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 241.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 83.596677 meters # Minimum depth: 1991.044055 meters looking forward 0.000000 meters along route # Maximum depth: 1991.044055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.826150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675786; longitude = -122.105143; captureRadius = 10; duration = 167; initialDepth = 1952.794556; finalDepth = 1935.826150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2640820722786 # Actual altitude: 60.2640820722786 # Commanded vehicle depth: 1935.82614995799 # Seafloor depth: -1991.044055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 241.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 77.279745 meters # Minimum depth: 2002.794556 meters looking forward 0.000000 meters along route # Maximum depth: 2002.794556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.794556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675065; longitude = -122.104871; captureRadius = 10; duration = 154; initialDepth = 1953.341002; finalDepth = 1952.794556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2179050420057 # Actual altitude: 55.2179050420057 # Commanded vehicle depth: 1952.794556 # Seafloor depth: -2002.794556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 79.464186 meters # Minimum depth: 2003.341002 meters looking forward 0.000000 meters along route # Maximum depth: 2003.341002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.341002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674398; longitude = -122.104620; captureRadius = 10; duration = 158; initialDepth = 1953.629083; finalDepth = 1953.341002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1953.341002 # Seafloor depth: -2003.341002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 83.596851 meters # Minimum depth: 2003.629083 meters looking forward 0.000000 meters along route # Maximum depth: 2003.629083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.629083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673712; longitude = -122.104362; captureRadius = 10; duration = 167; initialDepth = 1949.901130; finalDepth = 1953.629083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1953.629083 # Seafloor depth: -2003.629083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 78.310288 meters # Minimum depth: 1999.901130 meters looking forward 0.000000 meters along route # Maximum depth: 1999.901130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.901130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672991; longitude = -122.104091; captureRadius = 10; duration = 156; initialDepth = 1952.317992; finalDepth = 1949.901130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1949.90113 # Seafloor depth: -1999.901130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 78.433970 meters # Minimum depth: 2002.317992 meters looking forward 0.000000 meters along route # Maximum depth: 2002.317992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.317992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672316; longitude = -122.103836; captureRadius = 10; duration = 156; initialDepth = 1955.649456; finalDepth = 1952.317992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1952.317992 # Seafloor depth: -2002.317992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 83.597025 meters # Minimum depth: 2005.649456 meters looking forward 0.000000 meters along route # Maximum depth: 2005.649456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1955.649456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671639; longitude = -122.103581; captureRadius = 10; duration = 167; initialDepth = 1953.099415; finalDepth = 1955.649456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1955.649456 # Seafloor depth: -2005.649456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 79.340834 meters # Minimum depth: 2003.099415 meters looking forward 0.000000 meters along route # Maximum depth: 2003.099415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.099415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670918; longitude = -122.103310; captureRadius = 10; duration = 158; initialDepth = 1953.718278; finalDepth = 1953.099415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1953.099415 # Seafloor depth: -2003.099415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 77.403750 meters # Minimum depth: 2003.718278 meters looking forward 0.000000 meters along route # Maximum depth: 2003.718278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.718278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670234; longitude = -122.103052; captureRadius = 10; duration = 154; initialDepth = 1950.389195; finalDepth = 1953.718278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1953.718278 # Seafloor depth: -2003.718278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 83.597199 meters # Minimum depth: 2000.389195 meters looking forward 0.000000 meters along route # Maximum depth: 2000.389195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1950.389195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669566; longitude = -122.102801; captureRadius = 10; duration = 167; initialDepth = 1941.210278; finalDepth = 1950.389195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1950.389195 # Seafloor depth: -2000.389195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 78.932853 meters # Minimum depth: 1991.210278 meters looking forward 0.000000 meters along route # Maximum depth: 1991.210278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.210278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668845; longitude = -122.102529; captureRadius = 10; duration = 157; initialDepth = 1933.704193; finalDepth = 1941.210278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1941.210278 # Seafloor depth: -1991.210278 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 79.797885 meters # Minimum depth: 1983.704193 meters looking forward 0.000000 meters along route # Maximum depth: 1983.704193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.704193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668164; longitude = -122.102273; captureRadius = 10; duration = 159; # abortOnTimeout = True; initialDepth = 1926.488921; finalDepth = 1933.704193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1933.704193 # Seafloor depth: -1983.704193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 76.388899 meters # Minimum depth: 1976.488921 meters looking forward 0.000000 meters along route # Maximum depth: 1976.488921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.488921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667763; longitude = -122.103014; captureRadius = 10; duration = 152; initialDepth = 1916.398231; finalDepth = 1926.488921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1926.488921 # Seafloor depth: -1976.488921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 85.132707 meters # Minimum depth: 1966.398231 meters looking forward 0.000000 meters along route # Maximum depth: 1966.398231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.398231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667380; longitude = -122.103724; captureRadius = 10; duration = 170; initialDepth = 1914.075832; finalDepth = 1916.398231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1916.398231 # Seafloor depth: -1966.398231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 83.611137 meters # Minimum depth: 1964.075832 meters looking forward 0.000000 meters along route # Maximum depth: 1964.075832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.075832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666952; longitude = -122.104515; captureRadius = 10; duration = 167; initialDepth = 1942.327330; finalDepth = 1914.075832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1914.075832 # Seafloor depth: -1964.075832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 77.911589 meters # Minimum depth: 1992.327330 meters looking forward 0.000000 meters along route # Maximum depth: 1992.327330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1942.327330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666532; longitude = -122.105292; captureRadius = 10; duration = 155; initialDepth = 1969.405286; finalDepth = 1942.327330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1942.32733 # Seafloor depth: -1992.327330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 78.780218 meters # Minimum depth: 2019.405286 meters looking forward 0.000000 meters along route # Maximum depth: 2019.405286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1969.405286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666141; longitude = -122.106016; captureRadius = 10; duration = 157; initialDepth = 1949.920717; finalDepth = 1969.405286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1969.405286 # Seafloor depth: -2019.405286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 84.372948 meters # Minimum depth: 1999.920717 meters looking forward 0.000000 meters along route # Maximum depth: 1999.920717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.920717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665745; longitude = -122.106748; captureRadius = 10; duration = 168; initialDepth = 1947.344845; finalDepth = 1949.920717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1949.920717 # Seafloor depth: -1999.920717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 84.373253 meters # Minimum depth: 1997.344845 meters looking forward 0.000000 meters along route # Maximum depth: 1997.344845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.344845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665321; longitude = -122.107532; captureRadius = 10; duration = 168; initialDepth = 1958.590657; finalDepth = 1947.344845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1947.344845 # Seafloor depth: -1997.344845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 75.522392 meters # Minimum depth: 2008.590657 meters looking forward 0.000000 meters along route # Maximum depth: 2008.590657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1958.590657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664897; longitude = -122.108316; captureRadius = 10; duration = 151; initialDepth = 1978.626353; finalDepth = 1958.590657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1958.590657 # Seafloor depth: -2008.590657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 81.171604 meters # Minimum depth: 2028.626353 meters looking forward 0.000000 meters along route # Maximum depth: 2028.626353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1978.626353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664518; longitude = -122.109018; captureRadius = 10; duration = 162; initialDepth = 2007.785457; finalDepth = 1978.626353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1978.626353 # Seafloor depth: -2028.626353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 80.354480 meters # Minimum depth: 2057.785457 meters looking forward 0.000000 meters along route # Maximum depth: 2057.785457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.785457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664110; longitude = -122.109772; captureRadius = 10; duration = 160; initialDepth = 2026.918680; finalDepth = 2007.785457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2007.785457 # Seafloor depth: -2057.785457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 76.340569 meters # Minimum depth: 2076.918680 meters looking forward 0.000000 meters along route # Maximum depth: 2076.918680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.918680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663707; longitude = -122.110518; captureRadius = 10; duration = 152; initialDepth = 2027.737058; finalDepth = 2026.918680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2026.91868 # Seafloor depth: -2076.918680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 85.186636 meters # Minimum depth: 2077.737058 meters looking forward 0.000000 meters along route # Maximum depth: 2077.737058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.737058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663323; longitude = -122.111228; captureRadius = 10; duration = 170; initialDepth = 2027.779604; finalDepth = 2027.737058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2027.737058 # Seafloor depth: -2077.737058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 83.563057 meters # Minimum depth: 2077.779604 meters looking forward 0.000000 meters along route # Maximum depth: 2077.779604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.779604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662896; longitude = -122.112019; captureRadius = 10; duration = 167; initialDepth = 2028.679728; finalDepth = 2027.779604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2027.779604 # Seafloor depth: -2077.779604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 77.965268 meters # Minimum depth: 2078.679728 meters looking forward 0.000000 meters along route # Maximum depth: 2078.679728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.679728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662476; longitude = -122.112796; captureRadius = 10; duration = 155; initialDepth = 2034.487275; finalDepth = 2028.679728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2028.679728 # Seafloor depth: -2078.679728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 78.731971 meters # Minimum depth: 2084.487275 meters looking forward 0.000000 meters along route # Maximum depth: 2084.487275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.487275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662084; longitude = -122.113520; captureRadius = 10; duration = 157; initialDepth = 2036.480871; finalDepth = 2034.487275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2034.487275 # Seafloor depth: -2084.487275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 84.375872 meters # Minimum depth: 2086.480871 meters looking forward 0.000000 meters along route # Maximum depth: 2086.480871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.480871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661689; longitude = -122.114252; captureRadius = 10; duration = 168; initialDepth = 2041.311261; finalDepth = 2036.480871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2036.480871 # Seafloor depth: -2086.480871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 84.376178 meters # Minimum depth: 2091.311261 meters looking forward 0.000000 meters along route # Maximum depth: 2091.311261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.311261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661265; longitude = -122.115036; captureRadius = 10; duration = 168; initialDepth = 2048.972648; finalDepth = 2041.311261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2041.311261 # Seafloor depth: -2091.311261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 75.575989 meters # Minimum depth: 2098.972648 meters looking forward 0.000000 meters along route # Maximum depth: 2098.972648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.972648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660841; longitude = -122.115819; captureRadius = 10; duration = 151; initialDepth = 2042.055787; finalDepth = 2048.972648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2048.972648 # Seafloor depth: -2098.972648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 81.123439 meters # Minimum depth: 2092.055787 meters looking forward 0.000000 meters along route # Maximum depth: 2092.055787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.055787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660462; longitude = -122.116522; captureRadius = 10; duration = 162; initialDepth = 2033.924360; finalDepth = 2042.055787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2042.055787 # Seafloor depth: -2092.055787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 80.408245 meters # Minimum depth: 2083.924360 meters looking forward 0.000000 meters along route # Maximum depth: 2083.924360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.924360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660054; longitude = -122.117275; captureRadius = 10; duration = 160; initialDepth = 2031.486067; finalDepth = 2033.924360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2033.92436 # Seafloor depth: -2083.924360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 77.769135 meters # Minimum depth: 2081.486067 meters looking forward 0.000000 meters along route # Maximum depth: 2081.486067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.486067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659651; longitude = -122.118022; captureRadius = 10; duration = 155; initialDepth = 2031.328918; finalDepth = 2031.486067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2031.486067 # Seafloor depth: -2081.486067 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 96.928570 meters # Minimum depth: 2081.328918 meters looking forward 0.000000 meters along route # Maximum depth: 2081.328918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.328918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659260; longitude = -122.118745; captureRadius = 10; duration = 193; # abortOnTimeout = True; initialDepth = 2049.808735; finalDepth = 2031.328918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2031.328918 # Seafloor depth: -2081.328918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 84.607062 meters # Minimum depth: 2099.808735 meters looking forward 0.000000 meters along route # Maximum depth: 2099.808735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.808735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658389; longitude = -122.118665; captureRadius = 10; duration = 169; initialDepth = 2058.223572; finalDepth = 2049.808735; 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: 2049.808735 # Seafloor depth: -2099.808735 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 62.193048 meters # Minimum depth: 2108.223572 meters looking forward 0.000000 meters along route # Maximum depth: 2108.223572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.223572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657628; longitude = -122.118596; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 2049.699090; finalDepth = 2058.223572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2058.223572 # Seafloor depth: -2108.223572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 79.455606 meters # Minimum depth: 2099.699090 meters looking forward 0.000000 meters along route # Maximum depth: 2099.699090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.699090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657938; longitude = -122.118016; captureRadius = 10; duration = 158; initialDepth = 2043.111428; finalDepth = 2049.699090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2049.69909 # Seafloor depth: -2099.699090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 84.084876 meters # Minimum depth: 2093.111428 meters looking forward 0.000000 meters along route # Maximum depth: 2093.111428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.111428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658334; longitude = -122.117275; captureRadius = 10; duration = 168; initialDepth = 2049.130177; finalDepth = 2043.111428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2043.111428 # Seafloor depth: -2093.111428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 84.084573 meters # Minimum depth: 2099.130177 meters looking forward 0.000000 meters along route # Maximum depth: 2099.130177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.130177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658753; longitude = -122.116491; captureRadius = 10; duration = 168; initialDepth = 2050.180274; finalDepth = 2049.130177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2049.130177 # Seafloor depth: -2099.130177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 77.978282 meters # Minimum depth: 2100.180274 meters looking forward 0.000000 meters along route # Maximum depth: 2100.180274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.180274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659172; longitude = -122.115707; captureRadius = 10; duration = 155; initialDepth = 2045.839076; finalDepth = 2050.180274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2050.180274 # Seafloor depth: -2100.180274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 78.177978 meters # Minimum depth: 2095.839076 meters looking forward 0.000000 meters along route # Maximum depth: 2095.839076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.839076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659560; longitude = -122.114980; captureRadius = 10; duration = 156; initialDepth = 2045.372559; finalDepth = 2045.839076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2045.839076 # Seafloor depth: -2095.839076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 84.621985 meters # Minimum depth: 2095.372559 meters looking forward 0.000000 meters along route # Maximum depth: 2095.372559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.372559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659950; longitude = -122.114252; captureRadius = 10; duration = 169; initialDepth = 2041.657543; finalDepth = 2045.372559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2045.372559 # Seafloor depth: -2095.372559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 83.545125 meters # Minimum depth: 2091.657543 meters looking forward 0.000000 meters along route # Maximum depth: 2091.657543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.657543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660372; longitude = -122.113463; captureRadius = 10; duration = 167; initialDepth = 2037.345724; finalDepth = 2041.657543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2041.657543 # Seafloor depth: -2091.657543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 79.253701 meters # Minimum depth: 2087.345724 meters looking forward 0.000000 meters along route # Maximum depth: 2087.345724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.345724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660788; longitude = -122.112684; captureRadius = 10; duration = 158; initialDepth = 2033.471606; finalDepth = 2037.345724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2037.345724 # Seafloor depth: -2087.345724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 76.900386 meters # Minimum depth: 2083.471606 meters looking forward 0.000000 meters along route # Maximum depth: 2083.471606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.471606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661183; longitude = -122.111945; captureRadius = 10; duration = 153; initialDepth = 2032.301288; finalDepth = 2033.471606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2033.471606 # Seafloor depth: -2083.471606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 85.897304 meters # Minimum depth: 2082.301288 meters looking forward 0.000000 meters along route # Maximum depth: 2082.301288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.301288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661566; longitude = -122.111228; captureRadius = 10; duration = 171; initialDepth = 2029.199300; finalDepth = 2032.301288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2032.301288 # Seafloor depth: -2082.301288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 82.267468 meters # Minimum depth: 2079.199300 meters looking forward 0.000000 meters along route # Maximum depth: 2079.199300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.199300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661994; longitude = -122.110427; captureRadius = 10; duration = 164; initialDepth = 2015.735254; finalDepth = 2029.199300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2029.1993 # Seafloor depth: -2079.199300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 80.529085 meters # Minimum depth: 2065.735254 meters looking forward 0.000000 meters along route # Maximum depth: 2065.735254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.735254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662404; longitude = -122.109660; captureRadius = 10; duration = 161; initialDepth = 2001.072207; finalDepth = 2015.735254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2015.735254 # Seafloor depth: -2065.735254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 75.622831 meters # Minimum depth: 2051.072207 meters looking forward 0.000000 meters along route # Maximum depth: 2051.072207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.072207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662805; longitude = -122.108909; captureRadius = 10; duration = 151; initialDepth = 1974.496538; finalDepth = 2001.072207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2001.072207 # Seafloor depth: -2051.072207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 84.081368 meters # Minimum depth: 2024.496538 meters looking forward 0.000000 meters along route # Maximum depth: 2024.496538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1974.496538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663182; longitude = -122.108204; captureRadius = 10; duration = 168; initialDepth = 1960.151995; finalDepth = 1974.496538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1974.496538 # Seafloor depth: -2024.496538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 75.444372 meters # Minimum depth: 2010.151995 meters looking forward 0.000000 meters along route # Maximum depth: 2010.151995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1960.151995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663601; longitude = -122.107420; captureRadius = 10; duration = 150; initialDepth = 1919.501523; finalDepth = 1960.151995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1960.151995 # Seafloor depth: -2010.151995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 80.705935 meters # Minimum depth: 1969.501523 meters looking forward 0.000000 meters along route # Maximum depth: 1969.501523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.501523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663977; longitude = -122.106717; captureRadius = 10; duration = 161; initialDepth = 1935.140401; finalDepth = 1919.501523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1919.501523 # Seafloor depth: -1969.501523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 84.080502 meters # Minimum depth: 1985.140401 meters looking forward 0.000000 meters along route # Maximum depth: 1985.140401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.140401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664379; longitude = -122.105964; captureRadius = 10; duration = 168; initialDepth = 1940.970807; finalDepth = 1935.140401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1935.140401 # Seafloor depth: -1985.140401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 84.080199 meters # Minimum depth: 1990.970807 meters looking forward 0.000000 meters along route # Maximum depth: 1990.970807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1940.970807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664799; longitude = -122.105180; captureRadius = 10; duration = 168; initialDepth = 1924.213385; finalDepth = 1940.970807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1940.970807 # Seafloor depth: -1990.970807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 76.719779 meters # Minimum depth: 1974.213385 meters looking forward 0.000000 meters along route # Maximum depth: 1974.213385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.213385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665218; longitude = -122.104396; captureRadius = 10; duration = 153; initialDepth = 1886.962603; finalDepth = 1924.213385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1924.213385 # Seafloor depth: -1974.213385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 79.428357 meters # Minimum depth: 1936.962603 meters looking forward 0.000000 meters along route # Maximum depth: 1936.962603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.962603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665600; longitude = -122.103681; captureRadius = 10; duration = 158; initialDepth = 1891.480734; finalDepth = 1886.962603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1886.962603 # Seafloor depth: -1936.962603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 84.079333 meters # Minimum depth: 1941.480734 meters looking forward 0.000000 meters along route # Maximum depth: 1941.480734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.480734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665996; longitude = -122.102940; captureRadius = 10; duration = 168; initialDepth = 1903.359422; finalDepth = 1891.480734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1891.480734 # Seafloor depth: -1941.480734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 82.940561 meters # Minimum depth: 1953.359422 meters looking forward 0.000000 meters along route # Maximum depth: 1953.359422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.359422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666415; longitude = -122.102156; captureRadius = 10; duration = 165; initialDepth = 1908.553497; finalDepth = 1903.359422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1903.359422 # Seafloor depth: -1953.359422 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 86.571278 meters # Minimum depth: 1958.553497 meters looking forward 0.000000 meters along route # Maximum depth: 1958.553497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.553497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666828; longitude = -122.101383; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 1886.151980; finalDepth = 1908.553497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1908.553497 # Seafloor depth: -1958.553497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 81.578153 meters # Minimum depth: 1936.151980 meters looking forward 0.000000 meters along route # Maximum depth: 1936.151980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.151980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666141; longitude = -122.100924; captureRadius = 10; duration = 163; initialDepth = 1864.517761; finalDepth = 1886.151980; 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: 1886.15198 # Seafloor depth: -1936.151980 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 129.755841 meters # Minimum depth: 1914.517761 meters looking forward 0.000000 meters along route # Maximum depth: 1914.517761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.517761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665493; longitude = -122.100492; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 1872.068019; finalDepth = 1864.517761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.517761 # Seafloor depth: -1914.517761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 83.628420 meters # Minimum depth: 1922.068019 meters looking forward 0.000000 meters along route # Maximum depth: 1922.068019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.068019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664854; longitude = -122.101708; captureRadius = 10; duration = 167; initialDepth = 1856.929598; finalDepth = 1872.068019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.068019 # Seafloor depth: -1922.068019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 76.265020 meters # Minimum depth: 1906.929598 meters looking forward 0.000000 meters along route # Maximum depth: 1906.929598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.929598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664443; longitude = -122.102492; captureRadius = 10; duration = 152; initialDepth = 1873.162987; finalDepth = 1856.929598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1856.929598 # Seafloor depth: -1906.929598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 79.045695 meters # Minimum depth: 1923.162987 meters looking forward 0.000000 meters along route # Maximum depth: 1923.162987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1873.162987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664067; longitude = -122.103207; captureRadius = 10; duration = 158; initialDepth = 1910.022599; finalDepth = 1873.162987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1873.162987 # Seafloor depth: -1923.162987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 83.629275 meters # Minimum depth: 1966.336179 meters looking forward 0.000000 meters along route # Maximum depth: 1966.336179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.022599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663678; longitude = -122.103948; captureRadius = 10; duration = 167; initialDepth = 1923.214814; finalDepth = 1910.022599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3135797935847 # Actual altitude: 56.3135797935847 # Commanded vehicle depth: 1910.02259920642 # Seafloor depth: -1966.336179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 75.424115 meters # Minimum depth: 1973.214814 meters looking forward 0.000000 meters along route # Maximum depth: 1973.214814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1923.214814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663267; longitude = -122.104732; captureRadius = 10; duration = 150; initialDepth = 1921.931196; finalDepth = 1923.214814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3135797935847 # Actual altitude: 56.3135797935847 # Commanded vehicle depth: 1923.214814 # Seafloor depth: -1973.214814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 79.888189 meters # Minimum depth: 1971.931196 meters looking forward 0.000000 meters along route # Maximum depth: 1971.931196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.931196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662896; longitude = -122.105439; captureRadius = 10; duration = 159; initialDepth = 1934.222831; finalDepth = 1921.931196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1921.931196 # Seafloor depth: -1971.931196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 84.951061 meters # Minimum depth: 1984.222831 meters looking forward 0.000000 meters along route # Maximum depth: 1984.222831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.222831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662502; longitude = -122.106188; captureRadius = 10; duration = 169; initialDepth = 1971.923517; finalDepth = 1934.222831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1934.222831 # Seafloor depth: -1984.222831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 82.309498 meters # Minimum depth: 2021.923517 meters looking forward 0.000000 meters along route # Maximum depth: 2021.923517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1971.923517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662084; longitude = -122.106984; captureRadius = 10; duration = 164; initialDepth = 1996.757833; finalDepth = 1971.923517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1971.923517 # Seafloor depth: -2021.923517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 83.630728 meters # Minimum depth: 2046.757833 meters looking forward 0.000000 meters along route # Maximum depth: 2046.757833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.757833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661679; longitude = -122.107756; captureRadius = 10; duration = 167; initialDepth = 2010.569480; finalDepth = 1996.757833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1996.757833 # Seafloor depth: -2046.757833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 83.631028 meters # Minimum depth: 2060.569480 meters looking forward 0.000000 meters along route # Maximum depth: 2060.569480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.569480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661268; longitude = -122.108540; captureRadius = 10; duration = 167; initialDepth = 2012.824474; finalDepth = 2010.569480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2010.56948 # Seafloor depth: -2060.569480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 80.110734 meters # Minimum depth: 2062.824474 meters looking forward 0.000000 meters along route # Maximum depth: 2062.824474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.824474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660856; longitude = -122.109324; captureRadius = 10; duration = 160; initialDepth = 2012.530462; finalDepth = 2012.824474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2012.824474 # Seafloor depth: -2062.824474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 75.204826 meters # Minimum depth: 2062.530462 meters looking forward 0.000000 meters along route # Maximum depth: 2062.530462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.530462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660462; longitude = -122.110075; captureRadius = 10; duration = 150; initialDepth = 2027.056922; finalDepth = 2012.530462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2012.530462 # Seafloor depth: -2062.530462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 83.631883 meters # Minimum depth: 2077.056922 meters looking forward 0.000000 meters along route # Maximum depth: 2077.056922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.056922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660092; longitude = -122.110780; captureRadius = 10; duration = 167; initialDepth = 2037.168554; finalDepth = 2027.056922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2027.056922 # Seafloor depth: -2077.056922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 79.269842 meters # Minimum depth: 2087.168554 meters looking forward 0.000000 meters along route # Maximum depth: 2087.168554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.168554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659680; longitude = -122.111564; captureRadius = 10; duration = 158; initialDepth = 2039.845795; finalDepth = 2037.168554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2037.168554 # Seafloor depth: -2087.168554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 76.047307 meters # Minimum depth: 2089.845795 meters looking forward 0.000000 meters along route # Maximum depth: 2089.845795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.845795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659290; longitude = -122.112307; captureRadius = 10; duration = 152; initialDepth = 2049.537995; finalDepth = 2039.845795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2039.845795 # Seafloor depth: -2089.845795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 83.632739 meters # Minimum depth: 2099.537995 meters looking forward 0.000000 meters along route # Maximum depth: 2099.537995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.537995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658916; longitude = -122.113020; captureRadius = 10; duration = 167; initialDepth = 2050.428255; finalDepth = 2049.537995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2049.537995 # Seafloor depth: -2099.537995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 78.428933 meters # Minimum depth: 2100.428255 meters looking forward 0.000000 meters along route # Maximum depth: 2100.428255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.428255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658504; longitude = -122.113804; captureRadius = 10; duration = 156; initialDepth = 2054.487724; finalDepth = 2050.428255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2050.428255 # Seafloor depth: -2100.428255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 76.889804 meters # Minimum depth: 2104.487724 meters looking forward 0.000000 meters along route # Maximum depth: 2104.487724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.487724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658118; longitude = -122.114539; captureRadius = 10; duration = 153; initialDepth = 2054.765851; finalDepth = 2054.487724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2054.487724 # Seafloor depth: -2104.487724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 83.633594 meters # Minimum depth: 2104.765851 meters looking forward 0.000000 meters along route # Maximum depth: 2104.765851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.765851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657740; longitude = -122.115259; captureRadius = 10; duration = 167; initialDepth = 2062.028675; finalDepth = 2054.765851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2054.765851 # Seafloor depth: -2104.765851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 77.588007 meters # Minimum depth: 2112.028675 meters looking forward 0.000000 meters along route # Maximum depth: 2112.028675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.028675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657328; longitude = -122.116043; captureRadius = 10; duration = 155; initialDepth = 2062.043086; finalDepth = 2062.028675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2062.028675 # Seafloor depth: -2112.028675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 77.732319 meters # Minimum depth: 2112.043086 meters looking forward 0.000000 meters along route # Maximum depth: 2112.043086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.043086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656946; longitude = -122.116771; captureRadius = 10; duration = 155; initialDepth = 2063.433520; finalDepth = 2062.043086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2062.043086 # Seafloor depth: -2112.043086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 85.308666 meters # Minimum depth: 2113.433520 meters looking forward 0.000000 meters along route # Maximum depth: 2113.433520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.433520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656564; longitude = -122.117499; captureRadius = 10; duration = 170; initialDepth = 2063.567078; finalDepth = 2063.433520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2063.43352 # Seafloor depth: -2113.433520 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 79.033578 meters # Minimum depth: 2113.567078 meters looking forward 0.000000 meters along route # Maximum depth: 2113.567078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.567078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656144; longitude = -122.118299; captureRadius = 10; duration = 158; # abortOnTimeout = True; initialDepth = 2060.048018; finalDepth = 2063.567078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2063.567078 # Seafloor depth: -2113.567078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 80.020268 meters # Minimum depth: 2110.048018 meters looking forward 0.000000 meters along route # Maximum depth: 2110.048018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.048018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656856; longitude = -122.118278; captureRadius = 10; duration = 160; initialDepth = 2056.277112; finalDepth = 2060.048018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2060.048018 # Seafloor depth: -2110.048018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 80.020277 meters # Minimum depth: 2106.277112 meters looking forward 0.000000 meters along route # Maximum depth: 2106.277112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.277112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657577; longitude = -122.118257; captureRadius = 10; duration = 160; initialDepth = 2051.231457; finalDepth = 2056.277112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2056.277112 # Seafloor depth: -2106.277112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 80.020287 meters # Minimum depth: 2101.231457 meters looking forward 0.000000 meters along route # Maximum depth: 2101.231457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.231457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658298; longitude = -122.118236; captureRadius = 10; duration = 160; initialDepth = 2045.341020; finalDepth = 2051.231457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2051.231457 # Seafloor depth: -2101.231457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 80.020297 meters # Minimum depth: 2095.341020 meters looking forward 0.000000 meters along route # Maximum depth: 2095.341020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.341020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659020; longitude = -122.118215; captureRadius = 10; duration = 160; initialDepth = 2030.605962; finalDepth = 2045.341020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2045.34102 # Seafloor depth: -2095.341020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 83.871197 meters # Minimum depth: 2080.605962 meters looking forward 0.000000 meters along route # Maximum depth: 2080.605962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.605962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659741; longitude = -122.118193; captureRadius = 10; duration = 167; initialDepth = 2022.298584; finalDepth = 2030.605962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2030.605962 # Seafloor depth: -2080.605962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 76.839285 meters # Minimum depth: 2072.298584 meters looking forward 0.000000 meters along route # Maximum depth: 2072.298584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.298584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660497; longitude = -122.118171; captureRadius = 10; duration = 153; initialDepth = 2024.751404; finalDepth = 2022.298584; 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: 2022.298584 # Seafloor depth: -2072.298584 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 88.115408 meters # Minimum depth: 2074.751404 meters looking forward 0.000000 meters along route # Maximum depth: 2074.751404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.751404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661189; longitude = -122.118151; captureRadius = 10; duration = 176; # abortOnTimeout = True; initialDepth = 2037.245463; finalDepth = 2024.751404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2024.751404 # Seafloor depth: -2074.751404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 78.810308 meters # Minimum depth: 2087.245463 meters looking forward 0.000000 meters along route # Maximum depth: 2087.245463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.245463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661634; longitude = -122.117334; captureRadius = 10; duration = 157; initialDepth = 2041.741140; finalDepth = 2037.245463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2037.245463 # Seafloor depth: -2087.245463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 81.949769 meters # Minimum depth: 2091.741140 meters looking forward 0.000000 meters along route # Maximum depth: 2091.741140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.741140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662031; longitude = -122.116603; captureRadius = 10; duration = 163; initialDepth = 2041.464089; finalDepth = 2041.741140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2041.74114 # Seafloor depth: -2091.741140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 75.086176 meters # Minimum depth: 2091.464089 meters looking forward 0.000000 meters along route # Maximum depth: 2091.464089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.464089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662445; longitude = -122.115844; captureRadius = 10; duration = 150; initialDepth = 2031.276056; finalDepth = 2041.464089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2041.464089 # Seafloor depth: -2091.464089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 85.672790 meters # Minimum depth: 2081.276056 meters looking forward 0.000000 meters along route # Maximum depth: 2081.276056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.276056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662824; longitude = -122.115148; captureRadius = 10; duration = 171; initialDepth = 2027.392019; finalDepth = 2031.276056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2031.276056 # Seafloor depth: -2081.276056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 83.441659 meters # Minimum depth: 2077.392019 meters looking forward 0.000000 meters along route # Maximum depth: 2077.392019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.392019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663256; longitude = -122.114353; captureRadius = 10; duration = 166; initialDepth = 2026.334782; finalDepth = 2027.392019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2027.392019 # Seafloor depth: -2077.392019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 77.316198 meters # Minimum depth: 2076.334782 meters looking forward 0.000000 meters along route # Maximum depth: 2076.334782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.334782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663677; longitude = -122.113580; captureRadius = 10; duration = 154; initialDepth = 2022.961502; finalDepth = 2026.334782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2026.334782 # Seafloor depth: -2076.334782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 79.717547 meters # Minimum depth: 2072.961502 meters looking forward 0.000000 meters along route # Maximum depth: 2072.961502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.961502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664067; longitude = -122.112863; captureRadius = 10; duration = 159; initialDepth = 2021.796257; finalDepth = 2022.961502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2022.961502 # Seafloor depth: -2072.961502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 84.556193 meters # Minimum depth: 2071.796257 meters looking forward 0.000000 meters along route # Maximum depth: 2071.796257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.796257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664470; longitude = -122.112124; captureRadius = 10; duration = 169; initialDepth = 2022.499277; finalDepth = 2021.796257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2021.796257 # Seafloor depth: -2071.796257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 85.791832 meters # Minimum depth: 2072.499277 meters looking forward 0.000000 meters along route # Maximum depth: 2072.499277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.499277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664896; longitude = -122.111340; captureRadius = 10; duration = 171; initialDepth = 2017.930638; finalDepth = 2022.499277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2022.499277 # Seafloor depth: -2072.499277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 83.319634 meters # Minimum depth: 2067.930638 meters looking forward 0.000000 meters along route # Maximum depth: 2067.930638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.930638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665329; longitude = -122.110544; captureRadius = 10; duration = 166; initialDepth = 1990.118374; finalDepth = 2017.930638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2017.930638 # Seafloor depth: -2067.930638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 77.435386 meters # Minimum depth: 2040.118374 meters looking forward 0.000000 meters along route # Maximum depth: 2040.118374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.118374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665750; longitude = -122.109772; captureRadius = 10; duration = 154; initialDepth = 1955.403227; finalDepth = 1990.118374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1990.118374 # Seafloor depth: -2040.118374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 79.595590 meters # Minimum depth: 2005.403227 meters looking forward 0.000000 meters along route # Maximum depth: 2005.403227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1955.403227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666141; longitude = -122.109054; captureRadius = 10; duration = 159; initialDepth = 1973.885653; finalDepth = 1955.403227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1955.403227 # Seafloor depth: -2005.403227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 84.554702 meters # Minimum depth: 2023.885653 meters looking forward 0.000000 meters along route # Maximum depth: 2023.885653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1973.885653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666542; longitude = -122.108316; captureRadius = 10; duration = 169; initialDepth = 1975.179516; finalDepth = 1973.885653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1973.885653 # Seafloor depth: -2023.885653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 85.910868 meters # Minimum depth: 2025.179516 meters looking forward 0.000000 meters along route # Maximum depth: 2025.179516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1975.179516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666969; longitude = -122.107532; captureRadius = 10; duration = 171; initialDepth = 1982.616335; finalDepth = 1975.179516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1975.179516 # Seafloor depth: -2025.179516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 83.197615 meters # Minimum depth: 2032.616335 meters looking forward 0.000000 meters along route # Maximum depth: 2032.616335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1982.616335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667403; longitude = -122.106735; captureRadius = 10; duration = 166; initialDepth = 1952.564258; finalDepth = 1982.616335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1982.616335 # Seafloor depth: -2032.616335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 77.554570 meters # Minimum depth: 2002.564258 meters looking forward 0.000000 meters along route # Maximum depth: 2002.564258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.564258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667823; longitude = -122.105964; captureRadius = 10; duration = 155; initialDepth = 1935.463844; finalDepth = 1952.564258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1952.564258 # Seafloor depth: -2002.564258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 79.473636 meters # Minimum depth: 1985.463844 meters looking forward 0.000000 meters along route # Maximum depth: 1985.463844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.463844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668214; longitude = -122.105245; captureRadius = 10; duration = 158; initialDepth = 1932.209556; finalDepth = 1935.463844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1935.463844 # Seafloor depth: -1985.463844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 84.553211 meters # Minimum depth: 1982.209556 meters looking forward 0.000000 meters along route # Maximum depth: 1982.209556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.209556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668615; longitude = -122.104508; captureRadius = 10; duration = 169; initialDepth = 1939.825157; finalDepth = 1932.209556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1932.209556 # Seafloor depth: -1982.209556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 86.029901 meters # Minimum depth: 1989.825157 meters looking forward 0.000000 meters along route # Maximum depth: 1989.825157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1939.825157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669042; longitude = -122.103724; captureRadius = 10; duration = 172; initialDepth = 1949.512951; finalDepth = 1939.825157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1939.825157 # Seafloor depth: -1989.825157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 83.075600 meters # Minimum depth: 1999.512951 meters looking forward 0.000000 meters along route # Maximum depth: 1999.512951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.512951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669476; longitude = -122.102927; captureRadius = 10; duration = 166; initialDepth = 1946.330192; finalDepth = 1949.512951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1949.512951 # Seafloor depth: -1999.512951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 77.673749 meters # Minimum depth: 1996.330192 meters looking forward 0.000000 meters along route # Maximum depth: 1996.330192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.330192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669895; longitude = -122.102156; captureRadius = 10; duration = 155; initialDepth = 1941.965981; finalDepth = 1946.330192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1946.330192 # Seafloor depth: -1996.330192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 79.351689 meters # Minimum depth: 1991.965981 meters looking forward 0.000000 meters along route # Maximum depth: 1991.965981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.965981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670287; longitude = -122.101436; captureRadius = 10; duration = 158; initialDepth = 1930.615569; finalDepth = 1941.965981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1941.965981 # Seafloor depth: -1991.965981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 84.551720 meters # Minimum depth: 1980.615569 meters looking forward 0.000000 meters along route # Maximum depth: 1980.615569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1930.615569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670688; longitude = -122.100700; captureRadius = 10; duration = 169; initialDepth = 1939.722235; finalDepth = 1930.615569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1930.615569 # Seafloor depth: -1980.615569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 86.148929 meters # Minimum depth: 1989.722235 meters looking forward 0.000000 meters along route # Maximum depth: 1989.722235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1939.722235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671114; longitude = -122.099916; captureRadius = 10; duration = 172; initialDepth = 1924.789719; finalDepth = 1939.722235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1939.722235 # Seafloor depth: -1989.722235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 82.953590 meters # Minimum depth: 1974.789719 meters looking forward 0.000000 meters along route # Maximum depth: 1974.789719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.789719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671549; longitude = -122.099118; captureRadius = 10; duration = 165; initialDepth = 1880.992769; finalDepth = 1924.789719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1924.789719 # Seafloor depth: -1974.789719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 77.792924 meters # Minimum depth: 1930.992769 meters looking forward 0.000000 meters along route # Maximum depth: 1930.992769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.992769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671968; longitude = -122.098349; captureRadius = 10; duration = 155; initialDepth = 1889.499932; finalDepth = 1880.992769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1880.992769 # Seafloor depth: -1930.992769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 79.229744 meters # Minimum depth: 1939.499932 meters looking forward 0.000000 meters along route # Maximum depth: 1939.499932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.499932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672360; longitude = -122.097627; captureRadius = 10; duration = 158; initialDepth = 1885.869526; finalDepth = 1889.499932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.499932 # Seafloor depth: -1939.499932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 81.515661 meters # Minimum depth: 1935.869526 meters looking forward 0.000000 meters along route # Maximum depth: 1935.869526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.869526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672760; longitude = -122.096893; captureRadius = 10; duration = 163; initialDepth = 1903.869993; finalDepth = 1885.869526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1885.869526 # Seafloor depth: -1935.869526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 75.505949 meters # Minimum depth: 1953.869993 meters looking forward 0.000000 meters along route # Maximum depth: 1953.869993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.869993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673172; longitude = -122.096137; captureRadius = 10; duration = 151; initialDepth = 1898.985096; finalDepth = 1903.869993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1903.869993 # Seafloor depth: -1953.869993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 78.921298 meters # Minimum depth: 1948.985096 meters looking forward 0.000000 meters along route # Maximum depth: 1948.985096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.985096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673553; longitude = -122.095437; captureRadius = 10; duration = 157; initialDepth = 1876.753387; finalDepth = 1898.985096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1898.985096 # Seafloor depth: -1948.985096 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 105.070290 meters # Minimum depth: 1926.753387 meters looking forward 0.000000 meters along route # Maximum depth: 1926.753387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.753387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673951; longitude = -122.094705; captureRadius = 10; duration = 210; # abortOnTimeout = True; initialDepth = 1875.881519; finalDepth = 1876.753387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.753387 # Seafloor depth: -1926.753387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 79.271869 meters # Minimum depth: 1925.881519 meters looking forward 0.000000 meters along route # Maximum depth: 1925.881519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.881519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673172; longitude = -122.094037; captureRadius = 10; duration = 158; initialDepth = 1876.282443; finalDepth = 1875.881519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1875.881519 # Seafloor depth: -1925.881519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 78.705274 meters # Minimum depth: 1926.282443 meters looking forward 0.000000 meters along route # Maximum depth: 1926.282443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.282443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672584; longitude = -122.093533; captureRadius = 10; duration = 157; initialDepth = 1872.851890; finalDepth = 1876.282443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.282443 # Seafloor depth: -1926.282443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 79.816724 meters # Minimum depth: 1922.851890 meters looking forward 0.000000 meters along route # Maximum depth: 1922.851890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.851890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672000; longitude = -122.093032; captureRadius = 10; duration = 159; initialDepth = 1868.684934; finalDepth = 1872.851890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.85189 # Seafloor depth: -1922.851890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 77.213762 meters # Minimum depth: 1918.684934 meters looking forward 0.000000 meters along route # Maximum depth: 1918.684934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.684934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671408; longitude = -122.092525; captureRadius = 10; duration = 154; initialDepth = 1862.683441; finalDepth = 1868.684934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1868.684934 # Seafloor depth: -1918.684934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 82.218725 meters # Minimum depth: 1912.683441 meters looking forward 0.000000 meters along route # Maximum depth: 1912.683441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.683441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670835; longitude = -122.092034; captureRadius = 10; duration = 164; # abortOnTimeout = True; initialDepth = 1855.892950; finalDepth = 1862.683441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1862.683441 # Seafloor depth: -1912.683441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 75.566466 meters # Minimum depth: 1905.892950 meters looking forward 0.000000 meters along route # Maximum depth: 1905.892950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.892950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670557; longitude = -122.091181; captureRadius = 10; duration = 151; initialDepth = 1849.880981; finalDepth = 1855.892950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1855.89295 # Seafloor depth: -1905.892950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 75.566691 meters # Minimum depth: 1899.880981 meters looking forward 0.000000 meters along route # Maximum depth: 1899.880981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.880981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670302; longitude = -122.090397; captureRadius = 10; duration = 151; initialDepth = 1840.520867; finalDepth = 1849.880981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1849.880981 # Seafloor depth: -1899.880981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 75.566915 meters # Minimum depth: 1890.520867 meters looking forward 0.000000 meters along route # Maximum depth: 1890.520867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.520867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670047; longitude = -122.089613; captureRadius = 10; duration = 151; initialDepth = 1834.986595; finalDepth = 1840.520867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.520867 # Seafloor depth: -1890.520867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 75.567140 meters # Minimum depth: 1884.986595 meters looking forward 0.000000 meters along route # Maximum depth: 1884.986595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.986595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669791; longitude = -122.088829; captureRadius = 10; duration = 151; initialDepth = 1826.595246; finalDepth = 1834.986595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.986595 # Seafloor depth: -1884.986595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 75.567365 meters # Minimum depth: 1876.595246 meters looking forward 0.000000 meters along route # Maximum depth: 1876.595246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.595246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669536; longitude = -122.088045; captureRadius = 10; duration = 151; initialDepth = 1818.181049; finalDepth = 1826.595246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1826.595246 # Seafloor depth: -1876.595246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 75.650839 meters # Minimum depth: 1868.181049 meters looking forward 0.000000 meters along route # Maximum depth: 1868.181049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.181049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669281; longitude = -122.087261; captureRadius = 10; duration = 151; initialDepth = 1810.901635; finalDepth = 1818.181049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.181049 # Seafloor depth: -1868.181049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 79.377393 meters # Minimum depth: 1860.901635 meters looking forward 0.000000 meters along route # Maximum depth: 1860.901635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.901635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669025; longitude = -122.086476; captureRadius = 10; duration = 158; initialDepth = 1803.283966; finalDepth = 1810.901635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.901635 # Seafloor depth: -1860.901635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 121.362929 meters # Minimum depth: 1853.283966 meters looking forward 0.000000 meters along route # Maximum depth: 1853.283966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.283966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668757; longitude = -122.085653; captureRadius = 10; duration = 242; # abortOnTimeout = True; initialDepth = 1793.016024; finalDepth = 1803.283966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.283966 # Seafloor depth: -1853.283966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 83.415521 meters # Minimum depth: 1843.016024 meters looking forward 0.000000 meters along route # Maximum depth: 1843.016024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.016024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668450; longitude = -122.084349; captureRadius = 10; duration = 166; initialDepth = 1785.388368; finalDepth = 1793.016024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1793.016024 # Seafloor depth: -1843.016024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 83.415744 meters # Minimum depth: 1835.388368 meters looking forward 0.000000 meters along route # Maximum depth: 1835.388368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.388368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668239; longitude = -122.083454; captureRadius = 10; duration = 166; initialDepth = 1777.104574; finalDepth = 1785.388368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.388368 # Seafloor depth: -1835.388368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 83.415967 meters # Minimum depth: 1827.104574 meters looking forward 0.000000 meters along route # Maximum depth: 1827.104574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.104574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668029; longitude = -122.082558; captureRadius = 10; duration = 166; initialDepth = 1768.653863; finalDepth = 1777.104574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.104574 # Seafloor depth: -1827.104574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 83.416189 meters # Minimum depth: 1818.653863 meters looking forward 0.000000 meters along route # Maximum depth: 1818.653863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.653863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667818; longitude = -122.081662; captureRadius = 10; duration = 166; initialDepth = 1761.975519; finalDepth = 1768.653863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.653863 # Seafloor depth: -1818.653863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 83.416413 meters # Minimum depth: 1811.975519 meters looking forward 0.000000 meters along route # Maximum depth: 1811.975519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.975519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667607; longitude = -122.080766; captureRadius = 10; duration = 166; initialDepth = 1754.271051; finalDepth = 1761.975519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1761.975519 # Seafloor depth: -1811.975519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 83.416636 meters # Minimum depth: 1804.271051 meters looking forward 0.000000 meters along route # Maximum depth: 1804.271051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.271051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667396; longitude = -122.079870; captureRadius = 10; duration = 166; initialDepth = 1744.544633; finalDepth = 1754.271051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.271051 # Seafloor depth: -1804.271051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 82.753034 meters # Minimum depth: 1794.544633 meters looking forward 0.000000 meters along route # Maximum depth: 1794.544633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.544633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667185; longitude = -122.078974; captureRadius = 10; duration = 165; initialDepth = 1737.651825; finalDepth = 1744.544633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.544633 # Seafloor depth: -1794.544633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 56.881169 meters # Minimum depth: 1787.651825 meters looking forward 0.000000 meters along route # Maximum depth: 1787.651825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.651825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666976; longitude = -122.078085; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 1727.501046; finalDepth = 1737.651825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.651825 # Seafloor depth: -1787.651825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 78.387896 meters # Minimum depth: 1777.501046 meters looking forward 0.000000 meters along route # Maximum depth: 1777.501046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.501046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666682; longitude = -122.077564; captureRadius = 10; duration = 156; initialDepth = 1718.940405; finalDepth = 1727.501046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.501046 # Seafloor depth: -1777.501046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 78.314626 meters # Minimum depth: 1768.940405 meters looking forward 0.000000 meters along route # Maximum depth: 1768.940405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.940405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666276; longitude = -122.076846; captureRadius = 10; duration = 156; initialDepth = 1711.595847; finalDepth = 1718.940405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.940405 # Seafloor depth: -1768.940405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 80.629999 meters # Minimum depth: 1761.595847 meters looking forward 0.000000 meters along route # Maximum depth: 1761.595847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.595847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665870; longitude = -122.076129; captureRadius = 10; duration = 161; initialDepth = 1700.707271; finalDepth = 1711.595847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1711.595847 # Seafloor depth: -1761.595847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 78.390624 meters # Minimum depth: 1750.707271 meters looking forward 0.000000 meters along route # Maximum depth: 1750.707271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.707271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665453; longitude = -122.075390; captureRadius = 10; duration = 156; initialDepth = 1691.084717; finalDepth = 1700.707271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.707271 # Seafloor depth: -1750.707271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 75.992986 meters # Minimum depth: 1741.084717 meters looking forward 0.000000 meters along route # Maximum depth: 1741.084717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.084717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665047; longitude = -122.074672; captureRadius = 10; duration = 151; # abortOnTimeout = True; initialDepth = 1684.500290; finalDepth = 1691.084717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1691.084717 # Seafloor depth: -1741.084717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 77.957420 meters # Minimum depth: 1734.500290 meters looking forward 0.000000 meters along route # Maximum depth: 1734.500290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.500290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664428; longitude = -122.074308; captureRadius = 10; duration = 155; initialDepth = 1675.465689; finalDepth = 1684.500290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1684.50029 # Seafloor depth: -1734.500290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 76.974143 meters # Minimum depth: 1725.465689 meters looking forward 0.000000 meters along route # Maximum depth: 1725.465689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.465689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663793; longitude = -122.073934; captureRadius = 10; duration = 153; initialDepth = 1670.185311; finalDepth = 1675.465689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1675.465689 # Seafloor depth: -1725.465689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 78.701938 meters # Minimum depth: 1720.185311 meters looking forward 0.000000 meters along route # Maximum depth: 1720.185311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.185311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663166; longitude = -122.073565; captureRadius = 10; duration = 157; initialDepth = 1663.868469; finalDepth = 1670.185311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1670.185311 # Seafloor depth: -1720.185311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 58.996033 meters # Minimum depth: 1713.868469 meters looking forward 0.000000 meters along route # Maximum depth: 1713.868469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.868469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662525; longitude = -122.073188; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 1659.042710; finalDepth = 1663.868469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1663.868469 # Seafloor depth: -1713.868469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 80.153378 meters # Minimum depth: 1709.042710 meters looking forward 0.000000 meters along route # Maximum depth: 1709.042710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.042710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661994; longitude = -122.073229; captureRadius = 10; duration = 160; initialDepth = 1653.237994; finalDepth = 1659.042710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1659.04271 # Seafloor depth: -1709.042710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 75.260676 meters # Minimum depth: 1703.237994 meters looking forward 0.000000 meters along route # Maximum depth: 1703.237994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.237994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661273; longitude = -122.073285; captureRadius = 10; duration = 150; initialDepth = 1648.287628; finalDepth = 1653.237994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1653.237994 # Seafloor depth: -1703.237994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 96.558888 meters # Minimum depth: 1698.287628 meters looking forward 0.000000 meters along route # Maximum depth: 1698.287628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.287628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660596; longitude = -122.073337; captureRadius = 10; duration = 193; # abortOnTimeout = True; initialDepth = 1643.304062; finalDepth = 1648.287628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1648.287628 # Seafloor depth: -1698.287628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 77.292107 meters # Minimum depth: 1693.304062 meters looking forward 0.000000 meters along route # Maximum depth: 1693.304062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.304062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659871; longitude = -122.073934; captureRadius = 10; duration = 154; initialDepth = 1640.602834; finalDepth = 1643.304062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1643.304062 # Seafloor depth: -1693.304062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 85.695503 meters # Minimum depth: 1690.602834 meters looking forward 0.000000 meters along route # Maximum depth: 1690.602834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.602834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659290; longitude = -122.074412; captureRadius = 10; duration = 171; initialDepth = 1635.044836; finalDepth = 1640.602834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1640.602834 # Seafloor depth: -1690.602834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 76.313377 meters # Minimum depth: 1685.044836 meters looking forward 0.000000 meters along route # Maximum depth: 1685.044836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.044836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658646; longitude = -122.074942; captureRadius = 10; duration = 152; initialDepth = 1629.934357; finalDepth = 1635.044836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1635.044836 # Seafloor depth: -1685.044836 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 84.980649 meters # Minimum depth: 1679.934357 meters looking forward 0.000000 meters along route # Maximum depth: 1679.934357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.934357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658073; longitude = -122.075414; captureRadius = 10; duration = 169; # abortOnTimeout = True; initialDepth = 1627.035048; finalDepth = 1629.934357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1629.934357 # Seafloor depth: -1679.934357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 75.082410 meters # Minimum depth: 1677.035048 meters looking forward 0.000000 meters along route # Maximum depth: 1677.035048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.035048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657758; longitude = -122.074548; captureRadius = 10; duration = 150; initialDepth = 1626.209045; finalDepth = 1627.035048; 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: 1627.035048 # Seafloor depth: -1677.035048 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 89.608596 meters # Minimum depth: 1676.209045 meters looking forward 0.000000 meters along route # Maximum depth: 1676.209045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.209045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657479; longitude = -122.073782; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 1630.915239; finalDepth = 1626.209045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1626.209045 # Seafloor depth: -1676.209045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 77.524537 meters # Minimum depth: 1680.915239 meters looking forward 0.000000 meters along route # Maximum depth: 1680.915239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.915239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658208; longitude = -122.073351; captureRadius = 10; duration = 155; initialDepth = 1633.946008; finalDepth = 1630.915239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1630.915239 # Seafloor depth: -1680.915239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 77.524433 meters # Minimum depth: 1683.946008 meters looking forward 0.000000 meters along route # Maximum depth: 1683.946008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.946008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658839; longitude = -122.072978; captureRadius = 10; duration = 155; initialDepth = 1639.873603; finalDepth = 1633.946008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1633.946008 # Seafloor depth: -1683.946008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 77.524327 meters # Minimum depth: 1689.873603 meters looking forward 0.000000 meters along route # Maximum depth: 1689.873603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.873603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659470; longitude = -122.072606; captureRadius = 10; duration = 155; initialDepth = 1640.635711; finalDepth = 1639.873603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1639.873603 # Seafloor depth: -1689.873603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 78.966380 meters # Minimum depth: 1690.635711 meters looking forward 0.000000 meters along route # Maximum depth: 1690.635711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.635711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660101; longitude = -122.072233; captureRadius = 10; duration = 157; initialDepth = 1647.221802; finalDepth = 1640.635711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1640.635711 # Seafloor depth: -1690.635711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 59.223215 meters # Minimum depth: 1697.221802 meters looking forward 0.000000 meters along route # Maximum depth: 1697.221802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.221802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660744; longitude = -122.071853; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 1650.022074; finalDepth = 1647.221802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1647.221802 # Seafloor depth: -1697.221802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 80.716073 meters # Minimum depth: 1700.022074 meters looking forward 0.000000 meters along route # Maximum depth: 1700.022074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.022074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661273; longitude = -122.071941; captureRadius = 10; duration = 161; initialDepth = 1651.525059; finalDepth = 1650.022074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1650.022074 # Seafloor depth: -1700.022074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 79 # Segment length 80.716068 meters # Minimum depth: 1701.525059 meters looking forward 0.000000 meters along route # Maximum depth: 1701.525059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.525059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661994; longitude = -122.072061; captureRadius = 10; duration = 161; initialDepth = 1658.507773; finalDepth = 1651.525059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1651.525059 # Seafloor depth: -1701.525059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 79 # Segment length 78.312885 meters # Minimum depth: 1708.507773 meters looking forward 0.000000 meters along route # Maximum depth: 1708.507773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.507773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662715; longitude = -122.072181; captureRadius = 10; duration = 156; initialDepth = 1661.179962; finalDepth = 1658.507773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1658.507773 # Seafloor depth: -1708.507773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 126.299532 meters # Minimum depth: 1711.179962 meters looking forward 0.000000 meters along route # Maximum depth: 1711.179962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.179962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663415; longitude = -122.072298; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 1672.015815; finalDepth = 1661.179962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1661.179962 # Seafloor depth: -1711.179962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 77.173321 meters # Minimum depth: 1722.015815 meters looking forward 0.000000 meters along route # Maximum depth: 1722.015815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.015815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664428; longitude = -122.072943; captureRadius = 10; duration = 154; initialDepth = 1681.003204; finalDepth = 1672.015815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.015815 # Seafloor depth: -1722.015815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 78.741996 meters # Minimum depth: 1731.003204 meters looking forward 0.000000 meters along route # Maximum depth: 1731.003204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.003204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665047; longitude = -122.073337; captureRadius = 10; duration = 157; # abortOnTimeout = True; initialDepth = 1691.500077; finalDepth = 1681.003204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1681.003204 # Seafloor depth: -1731.003204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 77.033299 meters # Minimum depth: 1741.500077 meters looking forward 0.000000 meters along route # Maximum depth: 1741.500077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.500077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665600; longitude = -122.073890; captureRadius = 10; duration = 154; initialDepth = 1696.935208; finalDepth = 1691.500077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1691.500077 # Seafloor depth: -1741.500077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 77.033084 meters # Minimum depth: 1746.935208 meters looking forward 0.000000 meters along route # Maximum depth: 1746.935208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.935208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666141; longitude = -122.074430; captureRadius = 10; duration = 154; initialDepth = 1704.120697; finalDepth = 1696.935208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1696.935208 # Seafloor depth: -1746.935208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 84.245379 meters # Minimum depth: 1754.120697 meters looking forward 0.000000 meters along route # Maximum depth: 1754.120697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.120697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666682; longitude = -122.074971; captureRadius = 10; duration = 168; initialDepth = 1716.328217; finalDepth = 1704.120697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1704.120697 # Seafloor depth: -1754.120697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 79.867370 meters # Minimum depth: 1766.328217 meters looking forward 0.000000 meters along route # Maximum depth: 1766.328217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.328217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667273; longitude = -122.075562; captureRadius = 10; duration = 159; # abortOnTimeout = True; initialDepth = 1728.835227; finalDepth = 1716.328217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.328217 # Seafloor depth: -1766.328217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 85.596078 meters # Minimum depth: 1778.835227 meters looking forward 0.000000 meters along route # Maximum depth: 1778.835227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.835227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667527; longitude = -122.076398; captureRadius = 10; duration = 171; initialDepth = 1735.160029; finalDepth = 1728.835227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1728.835227 # Seafloor depth: -1778.835227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 85.595800 meters # Minimum depth: 1785.160029 meters looking forward 0.000000 meters along route # Maximum depth: 1785.160029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.160029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667800; longitude = -122.077294; captureRadius = 10; duration = 171; initialDepth = 1743.121304; finalDepth = 1735.160029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1735.160029 # Seafloor depth: -1785.160029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 75.009495 meters # Minimum depth: 1793.121304 meters looking forward 0.000000 meters along route # Maximum depth: 1793.121304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.121304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668073; longitude = -122.078190; captureRadius = 10; duration = 150; initialDepth = 1749.613922; finalDepth = 1743.121304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.121304 # Seafloor depth: -1793.121304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 83.720770 meters # Minimum depth: 1799.613922 meters looking forward 0.000000 meters along route # Maximum depth: 1799.613922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.613922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668312; longitude = -122.078975; captureRadius = 10; duration = 167; # abortOnTimeout = True; initialDepth = 1758.164371; finalDepth = 1749.613922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1749.613922 # Seafloor depth: -1799.613922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 83.831596 meters # Minimum depth: 1808.164371 meters looking forward 0.000000 meters along route # Maximum depth: 1808.164371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.164371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668536; longitude = -122.079870; captureRadius = 10; duration = 167; initialDepth = 1766.302220; finalDepth = 1758.164371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.164371 # Seafloor depth: -1808.164371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 83.831362 meters # Minimum depth: 1816.302220 meters looking forward 0.000000 meters along route # Maximum depth: 1816.302220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.302220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668759; longitude = -122.080766; captureRadius = 10; duration = 167; initialDepth = 1774.079856; finalDepth = 1766.302220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1766.30222 # Seafloor depth: -1816.302220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 81.905084 meters # Minimum depth: 1824.079856 meters looking forward 0.000000 meters along route # Maximum depth: 1824.079856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.079856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668983; longitude = -122.081662; captureRadius = 10; duration = 163; initialDepth = 1782.416870; finalDepth = 1774.079856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.079856 # Seafloor depth: -1824.079856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 121.941739 meters # Minimum depth: 1832.416870 meters looking forward 0.000000 meters along route # Maximum depth: 1832.416870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.416870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.082537; captureRadius = 10; duration = 243; # abortOnTimeout = True; initialDepth = 1792.828676; finalDepth = 1782.416870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.41687 # Seafloor depth: -1832.416870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 80.068084 meters # Minimum depth: 1842.828676 meters looking forward 0.000000 meters along route # Maximum depth: 1842.828676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.828676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.083901; captureRadius = 10; duration = 160; initialDepth = 1798.517769; finalDepth = 1792.828676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.828676 # Seafloor depth: -1842.828676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 80.068071 meters # Minimum depth: 1848.517769 meters looking forward 0.000000 meters along route # Maximum depth: 1848.517769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.517769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.084797; captureRadius = 10; duration = 160; initialDepth = 1806.236566; finalDepth = 1798.517769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.517769 # Seafloor depth: -1848.517769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 80.068058 meters # Minimum depth: 1856.236566 meters looking forward 0.000000 meters along route # Maximum depth: 1856.236566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.236566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.085693; captureRadius = 10; duration = 160; initialDepth = 1813.558038; finalDepth = 1806.236566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.236566 # Seafloor depth: -1856.236566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 75.486148 meters # Minimum depth: 1863.558038 meters looking forward 0.000000 meters along route # Maximum depth: 1863.558038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.558038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.086589; captureRadius = 10; duration = 150; initialDepth = 1818.223694; finalDepth = 1813.558038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1813.558038 # Seafloor depth: -1863.558038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 61.499498 meters # Minimum depth: 1868.223694 meters looking forward 0.000000 meters along route # Maximum depth: 1868.223694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.223694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.087434; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1826.292342; finalDepth = 1818.223694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.223694 # Seafloor depth: -1868.223694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 78.877043 meters # Minimum depth: 1876.292342 meters looking forward 0.000000 meters along route # Maximum depth: 1876.292342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.292342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669457; longitude = -122.088045; captureRadius = 10; duration = 157; initialDepth = 1834.995379; finalDepth = 1826.292342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1826.292342 # Seafloor depth: -1876.292342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 78.876771 meters # Minimum depth: 1884.995379 meters looking forward 0.000000 meters along route # Maximum depth: 1884.995379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.995379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669783; longitude = -122.088829; captureRadius = 10; duration = 157; initialDepth = 1840.974133; finalDepth = 1834.995379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.995379 # Seafloor depth: -1884.995379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 78.876497 meters # Minimum depth: 1890.974133 meters looking forward 0.000000 meters along route # Maximum depth: 1890.974133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.974133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670110; longitude = -122.089613; captureRadius = 10; duration = 157; initialDepth = 1850.051313; finalDepth = 1840.974133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.974133 # Seafloor depth: -1890.974133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 78.876224 meters # Minimum depth: 1900.051313 meters looking forward 0.000000 meters along route # Maximum depth: 1900.051313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.051313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670437; longitude = -122.090397; captureRadius = 10; duration = 157; initialDepth = 1857.384078; finalDepth = 1850.051313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1850.051313 # Seafloor depth: -1900.051313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 80.890011 meters # Minimum depth: 1907.384078 meters looking forward 0.000000 meters along route # Maximum depth: 1907.384078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.384078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670763; longitude = -122.091181; captureRadius = 10; duration = 161; initialDepth = 1863.903398; finalDepth = 1857.384078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1857.384078 # Seafloor depth: -1907.384078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 79.584731 meters # Minimum depth: 1913.903398 meters looking forward 0.000000 meters along route # Maximum depth: 1913.903398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.903398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671098; longitude = -122.091985; captureRadius = 10; duration = 159; initialDepth = 1871.870087; finalDepth = 1863.903398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1863.903398 # Seafloor depth: -1913.903398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 83.509087 meters # Minimum depth: 1921.870087 meters looking forward 0.000000 meters along route # Maximum depth: 1921.870087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.870087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671428; longitude = -122.092776; captureRadius = 10; duration = 167; # abortOnTimeout = True; initialDepth = 1876.724273; finalDepth = 1871.870087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1871.870087 # Seafloor depth: -1921.870087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 75.797385 meters # Minimum depth: 1926.724273 meters looking forward 0.000000 meters along route # Maximum depth: 1926.724273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.724273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671869; longitude = -122.093533; captureRadius = 10; duration = 151; initialDepth = 1888.068432; finalDepth = 1876.724273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.724273 # Seafloor depth: -1926.724273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 85.250324 meters # Minimum depth: 1938.068432 meters looking forward 0.000000 meters along route # Maximum depth: 1938.068432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.068432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672270; longitude = -122.094220; captureRadius = 10; duration = 170; initialDepth = 1889.136143; finalDepth = 1888.068432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1888.068432 # Seafloor depth: -1938.068432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 86.079733 meters # Minimum depth: 1939.136143 meters looking forward 0.000000 meters along route # Maximum depth: 1939.136143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.136143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672721; longitude = -122.094993; captureRadius = 10; duration = 172; initialDepth = 1904.527560; finalDepth = 1889.136143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.136143 # Seafloor depth: -1939.136143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 86.493939 meters # Minimum depth: 1954.527560 meters looking forward 0.000000 meters along route # Maximum depth: 1954.527560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.527560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673176; longitude = -122.095773; captureRadius = 10; duration = 172; initialDepth = 1913.441334; finalDepth = 1904.527560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1904.52756 # Seafloor depth: -1954.527560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 86.493593 meters # Minimum depth: 1963.441334 meters looking forward 0.000000 meters along route # Maximum depth: 1963.441334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1913.441334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673633; longitude = -122.096557; captureRadius = 10; duration = 172; initialDepth = 1915.720584; finalDepth = 1913.441334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1913.441334 # Seafloor depth: -1963.441334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 85.765951 meters # Minimum depth: 1965.720584 meters looking forward 0.000000 meters along route # Maximum depth: 1965.720584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.720584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674091; longitude = -122.097341; captureRadius = 10; duration = 171; initialDepth = 1925.759735; finalDepth = 1915.720584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1915.720584 # Seafloor depth: -1965.720584 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 80.342754 meters # Minimum depth: 1975.759735 meters looking forward 0.000000 meters along route # Maximum depth: 1975.759735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.759735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674544; longitude = -122.098118; captureRadius = 10; duration = 160; # abortOnTimeout = True; initialDepth = 1921.114433; finalDepth = 1925.759735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1925.759735 # Seafloor depth: -1975.759735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 77.709829 meters # Minimum depth: 1971.114433 meters looking forward 0.000000 meters along route # Maximum depth: 1971.114433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.114433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674884; longitude = -122.097324; captureRadius = 10; duration = 155; initialDepth = 1899.391724; finalDepth = 1921.114433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1921.114433 # Seafloor depth: -1971.114433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 71 # Segment length 79.359564 meters # Minimum depth: 1949.391724 meters looking forward 0.000000 meters along route # Maximum depth: 1949.391724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.391724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675213; longitude = -122.096557; captureRadius = 10; duration = 158; initialDepth = 1866.112035; finalDepth = 1899.391724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1899.391724 # Seafloor depth: -1949.391724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 71 # Segment length 78.022258 meters # Minimum depth: 1916.112035 meters looking forward 0.000000 meters along route # Maximum depth: 1916.112035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.112035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675550; longitude = -122.095773; captureRadius = 10; duration = 156; initialDepth = 1856.834137; finalDepth = 1866.112035; 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: 1866.112035 # Seafloor depth: -1916.112035 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 119.087967 meters # Minimum depth: 1906.834137 meters looking forward 0.000000 meters along route # Maximum depth: 1906.834137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.834137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675880; longitude = -122.095002; captureRadius = 10; duration = 238; # abortOnTimeout = True; initialDepth = 1832.996594; finalDepth = 1856.834137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1856.834137 # Seafloor depth: -1906.834137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 75.465783 meters # Minimum depth: 1882.996594 meters looking forward 0.000000 meters along route # Maximum depth: 1882.996594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.996594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674884; longitude = -122.094504; captureRadius = 10; duration = 150; initialDepth = 1840.909172; finalDepth = 1832.996594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1832.996594 # Seafloor depth: -1882.996594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 75.465865 meters # Minimum depth: 1890.909172 meters looking forward 0.000000 meters along route # Maximum depth: 1890.909172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.909172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674253; longitude = -122.094188; captureRadius = 10; duration = 150; initialDepth = 1864.634467; finalDepth = 1840.909172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.909172 # Seafloor depth: -1890.909172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 75.465950 meters # Minimum depth: 1914.634467 meters looking forward 0.000000 meters along route # Maximum depth: 1914.634467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.634467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673622; longitude = -122.093873; captureRadius = 10; duration = 150; initialDepth = 1871.448413; finalDepth = 1864.634467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.634467 # Seafloor depth: -1914.634467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 80.412353 meters # Minimum depth: 1921.448413 meters looking forward 0.000000 meters along route # Maximum depth: 1921.448413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.448413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672991; longitude = -122.093557; captureRadius = 10; duration = 160; initialDepth = 1874.708832; finalDepth = 1871.448413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1871.448413 # Seafloor depth: -1921.448413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 121.200973 meters # Minimum depth: 1924.708832 meters looking forward 0.000000 meters along route # Maximum depth: 1924.708832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.708832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672319; longitude = -122.093221; captureRadius = 10; duration = 242; # abortOnTimeout = True; initialDepth = 1866.347911; finalDepth = 1874.708832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1874.708832 # Seafloor depth: -1924.708832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 79.315245 meters # Minimum depth: 1916.347911 meters looking forward 0.000000 meters along route # Maximum depth: 1916.347911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.347911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671549; longitude = -122.092259; captureRadius = 10; duration = 158; initialDepth = 1861.602578; finalDepth = 1866.347911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1866.347911 # Seafloor depth: -1916.347911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 79.855379 meters # Minimum depth: 1911.602578 meters looking forward 0.000000 meters along route # Maximum depth: 1911.602578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.602578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671045; longitude = -122.091629; captureRadius = 10; duration = 159; initialDepth = 1854.256317; finalDepth = 1861.602578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1861.602578 # Seafloor depth: -1911.602578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 66.981120 meters # Minimum depth: 1904.256317 meters looking forward 0.000000 meters along route # Maximum depth: 1904.256317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.256317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670538; longitude = -122.090995; captureRadius = 10; duration = 133; # abortOnTimeout = True; initialDepth = 1849.380548; finalDepth = 1854.256317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.256317 # Seafloor depth: -1904.256317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 82.127522 meters # Minimum depth: 1899.380548 meters looking forward 0.000000 meters along route # Maximum depth: 1899.380548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.380548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670344; longitude = -122.090285; captureRadius = 10; duration = 164; initialDepth = 1839.307971; finalDepth = 1849.380548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1849.380548 # Seafloor depth: -1899.380548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 76.374049 meters # Minimum depth: 1889.307971 meters looking forward 0.000000 meters along route # Maximum depth: 1889.307971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.307971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670107; longitude = -122.089415; captureRadius = 10; duration = 152; initialDepth = 1832.632740; finalDepth = 1839.307971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.307971 # Seafloor depth: -1889.307971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 79.497096 meters # Minimum depth: 1882.632740 meters looking forward 0.000000 meters along route # Maximum depth: 1882.632740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.632740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669886; longitude = -122.088605; captureRadius = 10; duration = 158; initialDepth = 1825.008937; finalDepth = 1832.632740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1832.63274 # Seafloor depth: -1882.632740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 79.005364 meters # Minimum depth: 1875.008937 meters looking forward 0.000000 meters along route # Maximum depth: 1875.008937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.008937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669656; longitude = -122.087763; captureRadius = 10; duration = 158; initialDepth = 1817.135191; finalDepth = 1825.008937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.008937 # Seafloor depth: -1875.008937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 78.058903 meters # Minimum depth: 1867.135191 meters looking forward 0.000000 meters along route # Maximum depth: 1867.135191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.135191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669428; longitude = -122.086925; captureRadius = 10; duration = 156; initialDepth = 1810.190674; finalDepth = 1817.135191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1817.135191 # Seafloor depth: -1867.135191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 123.798179 meters # Minimum depth: 1860.190674 meters looking forward 0.000000 meters along route # Maximum depth: 1860.190674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.190674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.086098; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 1796.561575; finalDepth = 1810.190674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.190674 # Seafloor depth: -1860.190674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 85.283782 meters # Minimum depth: 1846.561575 meters looking forward 0.000000 meters along route # Maximum depth: 1846.561575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.561575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668818; longitude = -122.084797; captureRadius = 10; duration = 170; initialDepth = 1790.392034; finalDepth = 1796.561575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.561575 # Seafloor depth: -1846.561575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 85.284053 meters # Minimum depth: 1840.392034 meters looking forward 0.000000 meters along route # Maximum depth: 1840.392034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.392034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668553; longitude = -122.083901; captureRadius = 10; duration = 170; initialDepth = 1781.440960; finalDepth = 1790.392034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1790.392034 # Seafloor depth: -1840.392034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 85.284324 meters # Minimum depth: 1831.440960 meters looking forward 0.000000 meters along route # Maximum depth: 1831.440960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.440960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668288; longitude = -122.083006; captureRadius = 10; duration = 170; initialDepth = 1773.875972; finalDepth = 1781.440960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1781.44096 # Seafloor depth: -1831.440960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 83.904512 meters # Minimum depth: 1823.875972 meters looking forward 0.000000 meters along route # Maximum depth: 1823.875972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.875972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668024; longitude = -122.082110; captureRadius = 10; duration = 167; initialDepth = 1765.018345; finalDepth = 1773.875972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1773.875972 # Seafloor depth: -1823.875972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 76.004325 meters # Minimum depth: 1815.018345 meters looking forward 0.000000 meters along route # Maximum depth: 1815.018345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.018345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667763; longitude = -122.081228; captureRadius = 10; duration = 152; initialDepth = 1758.714550; finalDepth = 1765.018345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1765.018345 # Seafloor depth: -1815.018345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 81.932242 meters # Minimum depth: 1808.714550 meters looking forward 0.000000 meters along route # Maximum depth: 1808.714550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.714550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667527; longitude = -122.080430; captureRadius = 10; duration = 163; initialDepth = 1751.178345; finalDepth = 1758.714550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.71455 # Seafloor depth: -1808.714550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 92.664272 meters # Minimum depth: 1801.178345 meters looking forward 0.000000 meters along route # Maximum depth: 1801.178345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.178345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667273; longitude = -122.079569; captureRadius = 10; duration = 185; # abortOnTimeout = True; initialDepth = 1743.099582; finalDepth = 1751.178345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.178345 # Seafloor depth: -1801.178345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 76.011645 meters # Minimum depth: 1793.099582 meters looking forward 0.000000 meters along route # Maximum depth: 1793.099582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.099582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666761; longitude = -122.078750; captureRadius = 10; duration = 152; initialDepth = 1731.039399; finalDepth = 1743.099582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.099582 # Seafloor depth: -1793.099582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 76.011910 meters # Minimum depth: 1781.039399 meters looking forward 0.000000 meters along route # Maximum depth: 1781.039399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.039399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666341; longitude = -122.078078; captureRadius = 10; duration = 152; initialDepth = 1719.179148; finalDepth = 1731.039399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1731.039399 # Seafloor depth: -1781.039399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 76.012176 meters # Minimum depth: 1769.179148 meters looking forward 0.000000 meters along route # Maximum depth: 1769.179148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.179148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665921; longitude = -122.077406; captureRadius = 10; duration = 152; initialDepth = 1710.096619; finalDepth = 1719.179148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1719.179148 # Seafloor depth: -1769.179148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 82.120837 meters # Minimum depth: 1760.096619 meters looking forward 0.000000 meters along route # Maximum depth: 1760.096619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.096619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665501; longitude = -122.076734; captureRadius = 10; duration = 164; initialDepth = 1698.815216; finalDepth = 1710.096619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1710.096619 # Seafloor depth: -1760.096619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 102.307709 meters # Minimum depth: 1748.815216 meters looking forward 0.000000 meters along route # Maximum depth: 1748.815216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.815216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665047; longitude = -122.076008; captureRadius = 10; duration = 204; # abortOnTimeout = True; initialDepth = 1689.234864; finalDepth = 1698.815216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.815216 # Seafloor depth: -1748.815216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 80.767035 meters # Minimum depth: 1739.234864 meters looking forward 0.000000 meters along route # Maximum depth: 1739.234864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.234864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664248; longitude = -122.075437; captureRadius = 10; duration = 161; initialDepth = 1682.388684; finalDepth = 1689.234864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1689.234864 # Seafloor depth: -1739.234864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 82.785644 meters # Minimum depth: 1732.388684 meters looking forward 0.000000 meters along route # Maximum depth: 1732.388684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.388684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663617; longitude = -122.074986; captureRadius = 10; duration = 165; initialDepth = 1673.612518; finalDepth = 1682.388684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1682.388684 # Seafloor depth: -1732.388684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 89.388886 meters # Minimum depth: 1723.612518 meters looking forward 0.000000 meters along route # Maximum depth: 1723.612518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.612518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662970; longitude = -122.074524; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 1665.103195; finalDepth = 1673.612518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1673.612518 # Seafloor depth: -1723.612518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 77.366836 meters # Minimum depth: 1715.103195 meters looking forward 0.000000 meters along route # Maximum depth: 1715.103195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.103195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662175; longitude = -122.074365; captureRadius = 10; duration = 154; initialDepth = 1658.411865; finalDepth = 1665.103195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1665.103195 # Seafloor depth: -1715.103195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 113.616353 meters # Minimum depth: 1708.411865 meters looking forward 0.000000 meters along route # Maximum depth: 1708.411865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.411865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661486; longitude = -122.074227; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 1648.241825; finalDepth = 1658.411865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1658.411865 # Seafloor depth: -1708.411865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 83.961130 meters # Minimum depth: 1698.241825 meters looking forward 0.000000 meters along route # Maximum depth: 1698.241825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.241825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660462; longitude = -122.074227; captureRadius = 10; duration = 167; initialDepth = 1645.183533; finalDepth = 1648.241825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1648.241825 # Seafloor depth: -1698.241825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 120.969312 meters # Minimum depth: 1695.183533 meters looking forward 0.000000 meters along route # Maximum depth: 1695.183533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.183533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659705; longitude = -122.074227; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 1633.420973; finalDepth = 1645.183533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1645.183533 # Seafloor depth: -1695.183533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 80.571750 meters # Minimum depth: 1683.420973 meters looking forward 0.000000 meters along route # Maximum depth: 1683.420973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.420973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658636; longitude = -122.074494; captureRadius = 10; duration = 161; initialDepth = 1628.956177; finalDepth = 1633.420973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1633.420973 # Seafloor depth: -1683.420973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 84.586320 meters # Minimum depth: 1678.956177 meters looking forward 0.000000 meters along route # Maximum depth: 1678.956177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.956177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657924; longitude = -122.074672; captureRadius = 10; duration = 169; # abortOnTimeout = True; initialDepth = 1625.024829; finalDepth = 1628.956177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1628.956177 # Seafloor depth: -1678.956177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.469249 meters # Minimum depth: 1675.024829 meters looking forward 0.000000 meters along route # Maximum depth: 1675.024829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.024829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657217; longitude = -122.075026; captureRadius = 10; duration = 150; initialDepth = 1617.388766; finalDepth = 1625.024829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1625.024829 # Seafloor depth: -1675.024829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 75.469323 meters # Minimum depth: 1667.388766 meters looking forward 0.000000 meters along route # Maximum depth: 1667.388766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.388766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656586; longitude = -122.075341; captureRadius = 10; duration = 150; initialDepth = 1609.824828; finalDepth = 1617.388766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1617.388766 # Seafloor depth: -1667.388766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 83.943012 meters # Minimum depth: 1659.824828 meters looking forward 0.000000 meters along route # Maximum depth: 1659.824828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.824828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655955; longitude = -122.075657; captureRadius = 10; duration = 167; initialDepth = 1608.179688; finalDepth = 1609.824828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1609.824828 # Seafloor depth: -1659.824828 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 124.896251 meters # Minimum depth: 1658.179688 meters looking forward 0.000000 meters along route # Maximum depth: 1658.179688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.179688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655253; longitude = -122.076008; captureRadius = 10; duration = 249; # abortOnTimeout = True; initialDepth = 1604.959503; finalDepth = 1608.179688; 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: 1608.179688 # Seafloor depth: -1658.179688 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 74.732718 meters # Minimum depth: 1654.959503 meters looking forward 0.000000 meters along route # Maximum depth: 1654.959503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.959503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655847; longitude = -122.077195; captureRadius = 10; duration = 149; # abortOnTimeout = True; initialDepth = 1608.268792; finalDepth = 1604.959503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1604.959503 # Seafloor depth: -1654.959503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 77.994121 meters # Minimum depth: 1658.268792 meters looking forward 0.000000 meters along route # Maximum depth: 1658.268792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.268792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656496; longitude = -122.076969; captureRadius = 10; duration = 155; initialDepth = 1611.964158; finalDepth = 1608.268792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1608.268792 # Seafloor depth: -1658.268792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 77.780675 meters # Minimum depth: 1661.964158 meters looking forward 0.000000 meters along route # Maximum depth: 1661.964158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.964158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657173; longitude = -122.076734; captureRadius = 10; duration = 155; initialDepth = 1620.411965; finalDepth = 1611.964158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1611.964158 # Seafloor depth: -1661.964158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 83.079829 meters # Minimum depth: 1670.411965 meters looking forward 0.000000 meters along route # Maximum depth: 1670.411965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.411965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657848; longitude = -122.076499; captureRadius = 10; duration = 166; initialDepth = 1627.911081; finalDepth = 1620.411965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1620.411965 # Seafloor depth: -1670.411965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 79.621473 meters # Minimum depth: 1677.911081 meters looking forward 0.000000 meters along route # Maximum depth: 1677.911081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.911081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658569; longitude = -122.076248; captureRadius = 10; duration = 159; initialDepth = 1629.902252; finalDepth = 1627.911081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1627.911081 # Seafloor depth: -1677.911081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 83.328611 meters # Minimum depth: 1679.902252 meters looking forward 0.000000 meters along route # Maximum depth: 1679.902252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.902252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659260; longitude = -122.076008; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 1645.640854; finalDepth = 1629.902252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1629.902252 # Seafloor depth: -1679.902252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 79.998568 meters # Minimum depth: 1695.640854 meters looking forward 0.000000 meters along route # Maximum depth: 1695.640854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.640854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660011; longitude = -122.076008; captureRadius = 10; duration = 159; initialDepth = 1657.101177; finalDepth = 1645.640854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1645.640854 # Seafloor depth: -1695.640854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 83.616853 meters # Minimum depth: 1707.101177 meters looking forward 0.000000 meters along route # Maximum depth: 1707.101177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.101177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660732; longitude = -122.076008; captureRadius = 10; duration = 167; initialDepth = 1672.047211; finalDepth = 1657.101177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1657.101177 # Seafloor depth: -1707.101177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 60.778438 meters # Minimum depth: 1722.047211 meters looking forward 0.000000 meters along route # Maximum depth: 1722.047211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.047211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661486; longitude = -122.076008; captureRadius = 10; duration = 121; # abortOnTimeout = True; initialDepth = 1677.924832; finalDepth = 1672.047211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.047211 # Seafloor depth: -1722.047211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.458693 meters # Minimum depth: 1727.924832 meters looking forward 0.000000 meters along route # Maximum depth: 1727.924832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.924832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661994; longitude = -122.076262; captureRadius = 10; duration = 150; initialDepth = 1685.556909; finalDepth = 1677.924832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1677.924832 # Seafloor depth: -1727.924832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 76.751415 meters # Minimum depth: 1735.556909 meters looking forward 0.000000 meters along route # Maximum depth: 1735.556909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.556909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662625; longitude = -122.076577; captureRadius = 10; duration = 153; initialDepth = 1696.317139; finalDepth = 1685.556909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1685.556909 # Seafloor depth: -1735.556909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 80.898219 meters # Minimum depth: 1746.317139 meters looking forward 0.000000 meters along route # Maximum depth: 1746.317139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.317139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663267; longitude = -122.076898; captureRadius = 10; duration = 161; # abortOnTimeout = True; initialDepth = 1707.806794; finalDepth = 1696.317139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1696.317139 # Seafloor depth: -1746.317139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 87.690652 meters # Minimum depth: 1757.806794 meters looking forward 0.000000 meters along route # Maximum depth: 1757.806794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.806794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663798; longitude = -122.077518; captureRadius = 10; duration = 175; initialDepth = 1713.671291; finalDepth = 1707.806794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.806794 # Seafloor depth: -1757.806794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 76.782231 meters # Minimum depth: 1763.671291 meters looking forward 0.000000 meters along route # Maximum depth: 1763.671291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.671291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664374; longitude = -122.078190; captureRadius = 10; duration = 153; initialDepth = 1723.014567; finalDepth = 1713.671291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1713.671291 # Seafloor depth: -1763.671291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 83.983152 meters # Minimum depth: 1773.014567 meters looking forward 0.000000 meters along route # Maximum depth: 1773.014567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.014567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664879; longitude = -122.078778; captureRadius = 10; duration = 167; initialDepth = 1732.213948; finalDepth = 1723.014567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1723.014567 # Seafloor depth: -1773.014567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 77.283575 meters # Minimum depth: 1782.213948 meters looking forward 0.000000 meters along route # Maximum depth: 1782.213948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.213948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665430; longitude = -122.079422; captureRadius = 10; duration = 154; initialDepth = 1737.966553; finalDepth = 1732.213948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.213948 # Seafloor depth: -1782.213948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 105.193552 meters # Minimum depth: 1787.966553 meters looking forward 0.000000 meters along route # Maximum depth: 1787.966553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.966553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665938; longitude = -122.080014; captureRadius = 10; duration = 210; # abortOnTimeout = True; initialDepth = 1742.726134; finalDepth = 1737.966553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.966553 # Seafloor depth: -1787.966553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.818612 meters # Minimum depth: 1792.726134 meters looking forward 0.000000 meters along route # Maximum depth: 1792.726134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.726134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666300; longitude = -122.081102; captureRadius = 10; duration = 151; initialDepth = 1752.633425; finalDepth = 1742.726134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1742.726134 # Seafloor depth: -1792.726134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 77.309950 meters # Minimum depth: 1802.633425 meters looking forward 0.000000 meters along route # Maximum depth: 1802.633425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.633425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666562; longitude = -122.081886; captureRadius = 10; duration = 154; initialDepth = 1759.978180; finalDepth = 1752.633425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1752.633425 # Seafloor depth: -1802.633425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 83.974487 meters # Minimum depth: 1809.978180 meters looking forward 0.000000 meters along route # Maximum depth: 1809.978180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.978180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666828; longitude = -122.082685; captureRadius = 10; duration = 167; # abortOnTimeout = True; initialDepth = 1774.605745; finalDepth = 1759.978180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1759.97818 # Seafloor depth: -1809.978180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 85.445054 meters # Minimum depth: 1824.605745 meters looking forward 0.000000 meters along route # Maximum depth: 1824.605745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.605745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667092; longitude = -122.083566; captureRadius = 10; duration = 170; initialDepth = 1782.930339; finalDepth = 1774.605745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.605745 # Seafloor depth: -1824.605745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 85.444779 meters # Minimum depth: 1832.930339 meters looking forward 0.000000 meters along route # Maximum depth: 1832.930339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.930339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667361; longitude = -122.084461; captureRadius = 10; duration = 170; initialDepth = 1789.908001; finalDepth = 1782.930339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.930339 # Seafloor depth: -1832.930339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 85.444505 meters # Minimum depth: 1839.908001 meters looking forward 0.000000 meters along route # Maximum depth: 1839.908001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.908001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667630; longitude = -122.085357; captureRadius = 10; duration = 170; initialDepth = 1801.441303; finalDepth = 1789.908001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.908001 # Seafloor depth: -1839.908001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 84.271990 meters # Minimum depth: 1851.441303 meters looking forward 0.000000 meters along route # Maximum depth: 1851.441303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.441303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667899; longitude = -122.086253; captureRadius = 10; duration = 168; initialDepth = 1806.703247; finalDepth = 1801.441303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1801.441303 # Seafloor depth: -1851.441303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 77.004324 meters # Minimum depth: 1856.703247 meters looking forward 0.000000 meters along route # Maximum depth: 1856.703247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.703247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668164; longitude = -122.087137; captureRadius = 10; duration = 154; # abortOnTimeout = True; initialDepth = 1815.340604; finalDepth = 1806.703247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.703247 # Seafloor depth: -1856.703247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.815357 meters # Minimum depth: 1865.340604 meters looking forward 0.000000 meters along route # Maximum depth: 1865.340604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.340604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668429; longitude = -122.087933; captureRadius = 10; duration = 151; initialDepth = 1823.203317; finalDepth = 1815.340604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1815.340604 # Seafloor depth: -1865.340604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 75.815129 meters # Minimum depth: 1873.203317 meters looking forward 0.000000 meters along route # Maximum depth: 1873.203317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.203317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668690; longitude = -122.088717; captureRadius = 10; duration = 151; initialDepth = 1818.535974; finalDepth = 1823.203317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.203317 # Seafloor depth: -1873.203317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 75.814899 meters # Minimum depth: 1868.535974 meters looking forward 0.000000 meters along route # Maximum depth: 1868.535974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.535974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668952; longitude = -122.089501; captureRadius = 10; duration = 151; initialDepth = 1824.880189; finalDepth = 1818.535974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.535974 # Seafloor depth: -1868.535974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 83.063751 meters # Minimum depth: 1874.880189 meters looking forward 0.000000 meters along route # Maximum depth: 1874.880189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.880189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669213; longitude = -122.090285; captureRadius = 10; duration = 166; initialDepth = 1837.802246; finalDepth = 1824.880189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1824.880189 # Seafloor depth: -1874.880189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 127.834291 meters # Minimum depth: 1887.802246 meters looking forward 0.000000 meters along route # Maximum depth: 1887.802246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.802246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669499; longitude = -122.091144; captureRadius = 10; duration = 255; # abortOnTimeout = True; initialDepth = 1851.502588; finalDepth = 1837.802246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1837.802246 # Seafloor depth: -1887.802246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 76.334252 meters # Minimum depth: 1901.502588 meters looking forward 0.000000 meters along route # Maximum depth: 1901.502588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.502588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670107; longitude = -122.092359; captureRadius = 10; duration = 152; initialDepth = 1860.473145; finalDepth = 1851.502588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1851.502588 # Seafloor depth: -1901.502588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 76.798776 meters # Minimum depth: 1910.473145 meters looking forward 0.000000 meters along route # Maximum depth: 1910.473145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.473145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670470; longitude = -122.093085; captureRadius = 10; duration = 153; initialDepth = 1864.117340; finalDepth = 1860.473145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1860.473145 # Seafloor depth: -1910.473145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 129.541483 meters # Minimum depth: 1914.117340 meters looking forward 0.000000 meters along route # Maximum depth: 1914.117340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.117340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670835; longitude = -122.093815; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 1864.733934; finalDepth = 1864.117340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.11734 # Seafloor depth: -1914.117340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 76.371701 meters # Minimum depth: 1914.733934 meters looking forward 0.000000 meters along route # Maximum depth: 1914.733934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.733934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671717; longitude = -122.094765; captureRadius = 10; duration = 152; initialDepth = 1884.018524; finalDepth = 1864.733934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.733934 # Seafloor depth: -1914.733934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 77.362346 meters # Minimum depth: 1934.018524 meters looking forward 0.000000 meters along route # Maximum depth: 1934.018524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.018524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672237; longitude = -122.095325; captureRadius = 10; duration = 154; initialDepth = 1888.839813; finalDepth = 1884.018524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1884.018524 # Seafloor depth: -1934.018524 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 121.648087 meters # Minimum depth: 1938.839813 meters looking forward 0.000000 meters along route # Maximum depth: 1938.839813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.839813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672764; longitude = -122.095892; captureRadius = 10; duration = 243; # abortOnTimeout = True; initialDepth = 1887.910962; finalDepth = 1888.839813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1888.839813 # Seafloor depth: -1938.839813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 84.604440 meters # Minimum depth: 1937.910962 meters looking forward 0.000000 meters along route # Maximum depth: 1937.910962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.910962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673379; longitude = -122.094765; captureRadius = 10; duration = 169; initialDepth = 1856.351162; finalDepth = 1887.910962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1887.910962 # Seafloor depth: -1937.910962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 84.604133 meters # Minimum depth: 1906.351162 meters looking forward 0.000000 meters along route # Maximum depth: 1906.351162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.351162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673806; longitude = -122.093981; captureRadius = 10; duration = 169; initialDepth = 1831.572535; finalDepth = 1856.351162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1856.351162 # Seafloor depth: -1906.351162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 75.159573 meters # Minimum depth: 1881.572535 meters looking forward 0.000000 meters along route # Maximum depth: 1881.572535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.572535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674234; longitude = -122.093197; captureRadius = 10; duration = 150; initialDepth = 1827.548466; finalDepth = 1831.572535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1831.572535 # Seafloor depth: -1881.572535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 81.961573 meters # Minimum depth: 1877.548466 meters looking forward 0.000000 meters along route # Maximum depth: 1877.548466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.548466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674614; longitude = -122.092500; captureRadius = 10; duration = 163; initialDepth = 1803.532801; finalDepth = 1827.548466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1827.548466 # Seafloor depth: -1877.548466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 80.507622 meters # Minimum depth: 1853.532801 meters looking forward 0.000000 meters along route # Maximum depth: 1853.532801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.532801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675028; longitude = -122.091741; captureRadius = 10; duration = 161; initialDepth = 1763.950836; finalDepth = 1803.532801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.532801 # Seafloor depth: -1853.532801 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 89.582762 meters # Minimum depth: 1813.950836 meters looking forward 0.000000 meters along route # Maximum depth: 1813.950836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.950836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675435; longitude = -122.090995; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 1773.538426; finalDepth = 1763.950836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.950836 # Seafloor depth: -1813.950836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 78.562317 meters # Minimum depth: 1823.538426 meters looking forward 0.000000 meters along route # Maximum depth: 1823.538426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.538426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676146; longitude = -122.091470; captureRadius = 10; duration = 157; initialDepth = 1776.582184; finalDepth = 1773.538426; 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: 1773.538426 # Seafloor depth: -1823.538426 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 71.960509 meters # Minimum depth: 1826.582184 meters looking forward 0.000000 meters along route # Maximum depth: 1826.582184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.582184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676770; longitude = -122.091886; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 1802.150284; finalDepth = 1776.582184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1776.582184 # Seafloor depth: -1826.582184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 79.654551 meters # Minimum depth: 1852.150284 meters looking forward 0.000000 meters along route # Maximum depth: 1852.150284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.150284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676417; longitude = -122.092561; captureRadius = 10; duration = 159; initialDepth = 1826.151241; finalDepth = 1802.150284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.150284 # Seafloor depth: -1852.150284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.533140 meters # Minimum depth: 1876.151241 meters looking forward 0.000000 meters along route # Maximum depth: 1876.151241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.151241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676026; longitude = -122.093309; captureRadius = 10; duration = 167; initialDepth = 1840.111907; finalDepth = 1826.151241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1826.151241 # Seafloor depth: -1876.151241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.471163 meters # Minimum depth: 1890.111907 meters looking forward 0.000000 meters along route # Maximum depth: 1890.111907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.111907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675615; longitude = -122.094093; captureRadius = 10; duration = 150; initialDepth = 1840.808078; finalDepth = 1840.111907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.111907 # Seafloor depth: -1890.111907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.662604 meters # Minimum depth: 1890.808078 meters looking forward 0.000000 meters along route # Maximum depth: 1890.808078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.808078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675245; longitude = -122.094801; captureRadius = 10; duration = 159; initialDepth = 1856.406300; finalDepth = 1840.808078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.808078 # Seafloor depth: -1890.808078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.533993 meters # Minimum depth: 1906.406300 meters looking forward 0.000000 meters along route # Maximum depth: 1906.406300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.406300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674854; longitude = -122.095549; captureRadius = 10; duration = 167; initialDepth = 1895.358840; finalDepth = 1856.406300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1856.4063 # Seafloor depth: -1906.406300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.464693 meters # Minimum depth: 1958.385732 meters looking forward 0.000000 meters along route # Maximum depth: 1958.385732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.358840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674444; longitude = -122.096333; captureRadius = 10; duration = 150; initialDepth = 1916.057300; finalDepth = 1895.358840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.026892104775 # Actual altitude: 63.026892104775 # Commanded vehicle depth: 1895.35883989522 # Seafloor depth: -1958.385732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 252.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.670658 meters # Minimum depth: 1966.057300 meters looking forward 0.000000 meters along route # Maximum depth: 1966.057300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.057300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674073; longitude = -122.097041; captureRadius = 10; duration = 159; initialDepth = 1917.262294; finalDepth = 1916.057300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.026892104775 # Actual altitude: 63.026892104775 # Commanded vehicle depth: 1916.0573 # Seafloor depth: -1966.057300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 252.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.534846 meters # Minimum depth: 1967.262294 meters looking forward 0.000000 meters along route # Maximum depth: 1967.262294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.262294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673682; longitude = -122.097789; captureRadius = 10; duration = 167; initialDepth = 1921.173633; finalDepth = 1917.262294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1917.262294 # Seafloor depth: -1967.262294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.458224 meters # Minimum depth: 1971.173633 meters looking forward 0.000000 meters along route # Maximum depth: 1971.173633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.173633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673272; longitude = -122.098573; captureRadius = 10; duration = 150; initialDepth = 1914.283248; finalDepth = 1921.173633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1921.173633 # Seafloor depth: -1971.173633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.678711 meters # Minimum depth: 1964.283248 meters looking forward 0.000000 meters along route # Maximum depth: 1964.283248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.283248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672901; longitude = -122.099281; captureRadius = 10; duration = 159; initialDepth = 1934.860881; finalDepth = 1914.283248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1914.283248 # Seafloor depth: -1964.283248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.535699 meters # Minimum depth: 1984.860881 meters looking forward 0.000000 meters along route # Maximum depth: 1984.860881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.860881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672510; longitude = -122.100028; captureRadius = 10; duration = 167; initialDepth = 1930.556842; finalDepth = 1934.860881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1934.860881 # Seafloor depth: -1984.860881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.451755 meters # Minimum depth: 1980.556842 meters looking forward 0.000000 meters along route # Maximum depth: 1980.556842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1930.556842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672100; longitude = -122.100812; captureRadius = 10; duration = 150; initialDepth = 1934.486915; finalDepth = 1930.556842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1930.556842 # Seafloor depth: -1980.556842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.686764 meters # Minimum depth: 1984.486915 meters looking forward 0.000000 meters along route # Maximum depth: 1984.486915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.486915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671729; longitude = -122.101521; captureRadius = 10; duration = 159; initialDepth = 1949.670227; finalDepth = 1934.486915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1934.486915 # Seafloor depth: -1984.486915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.536552 meters # Minimum depth: 1999.670227 meters looking forward 0.000000 meters along route # Maximum depth: 1999.670227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.670227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671338; longitude = -122.102268; captureRadius = 10; duration = 167; initialDepth = 1953.185388; finalDepth = 1949.670227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1949.670227 # Seafloor depth: -1999.670227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.445286 meters # Minimum depth: 2003.185388 meters looking forward 0.000000 meters along route # Maximum depth: 2003.185388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.185388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670928; longitude = -122.103052; captureRadius = 10; duration = 150; initialDepth = 1955.543584; finalDepth = 1953.185388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1953.185388 # Seafloor depth: -2003.185388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.694818 meters # Minimum depth: 2005.543584 meters looking forward 0.000000 meters along route # Maximum depth: 2005.543584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1955.543584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670558; longitude = -122.103760; captureRadius = 10; duration = 159; initialDepth = 1957.968944; finalDepth = 1955.543584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1955.543584 # Seafloor depth: -2005.543584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.537406 meters # Minimum depth: 2007.968944 meters looking forward 0.000000 meters along route # Maximum depth: 2007.968944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.968944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670166; longitude = -122.104508; captureRadius = 10; duration = 167; initialDepth = 1957.026859; finalDepth = 1957.968944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1957.968944 # Seafloor depth: -2007.968944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.438815 meters # Minimum depth: 2007.026859 meters looking forward 0.000000 meters along route # Maximum depth: 2007.026859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.026859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669756; longitude = -122.105292; captureRadius = 10; duration = 150; initialDepth = 1956.234011; finalDepth = 1957.026859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1957.026859 # Seafloor depth: -2007.026859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.702873 meters # Minimum depth: 2006.234011 meters looking forward 0.000000 meters along route # Maximum depth: 2006.234011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1956.234011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669386; longitude = -122.106000; captureRadius = 10; duration = 159; initialDepth = 1963.088341; finalDepth = 1956.234011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1956.234011 # Seafloor depth: -2006.234011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.538259 meters # Minimum depth: 2013.088341 meters looking forward 0.000000 meters along route # Maximum depth: 2013.088341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1963.088341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668994; longitude = -122.106748; captureRadius = 10; duration = 167; initialDepth = 1991.263310; finalDepth = 1963.088341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1963.088341 # Seafloor depth: -2013.088341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.432346 meters # Minimum depth: 2041.263310 meters looking forward 0.000000 meters along route # Maximum depth: 2041.263310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.263310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668584; longitude = -122.107532; captureRadius = 10; duration = 150; initialDepth = 1989.587966; finalDepth = 1991.263310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1991.26331 # Seafloor depth: -2041.263310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.710927 meters # Minimum depth: 2039.587966 meters looking forward 0.000000 meters along route # Maximum depth: 2039.587966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1989.587966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668214; longitude = -122.108240; captureRadius = 10; duration = 159; initialDepth = 1985.014026; finalDepth = 1989.587966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1989.587966 # Seafloor depth: -2039.587966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.539112 meters # Minimum depth: 2035.014026 meters looking forward 0.000000 meters along route # Maximum depth: 2035.014026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1985.014026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667823; longitude = -122.108988; captureRadius = 10; duration = 167; initialDepth = 1996.871901; finalDepth = 1985.014026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1985.014026 # Seafloor depth: -2035.014026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.425876 meters # Minimum depth: 2046.871901 meters looking forward 0.000000 meters along route # Maximum depth: 2046.871901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.871901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667412; longitude = -122.109772; captureRadius = 10; duration = 150; initialDepth = 2010.751798; finalDepth = 1996.871901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1996.871901 # Seafloor depth: -2046.871901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 79.718981 meters # Minimum depth: 2060.751798 meters looking forward 0.000000 meters along route # Maximum depth: 2060.751798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.751798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667042; longitude = -122.110480; captureRadius = 10; duration = 159; initialDepth = 2012.397269; finalDepth = 2010.751798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2010.751798 # Seafloor depth: -2060.751798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 85.519619 meters # Minimum depth: 2062.397269 meters looking forward 0.000000 meters along route # Maximum depth: 2062.397269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.397269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666651; longitude = -122.111228; captureRadius = 10; duration = 171; initialDepth = 2015.390247; finalDepth = 2012.397269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2012.397269 # Seafloor depth: -2062.397269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 81.560611 meters # Minimum depth: 2065.390247 meters looking forward 0.000000 meters along route # Maximum depth: 2065.390247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.390247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666231; longitude = -122.112030; captureRadius = 10; duration = 163; initialDepth = 2015.963358; finalDepth = 2015.390247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2015.390247 # Seafloor depth: -2065.390247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 83.679158 meters # Minimum depth: 2065.963358 meters looking forward 0.000000 meters along route # Maximum depth: 2065.963358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.963358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665830; longitude = -122.112796; captureRadius = 10; duration = 167; initialDepth = 2018.475028; finalDepth = 2015.963358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2015.963358 # Seafloor depth: -2065.963358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 75.883456 meters # Minimum depth: 2068.475028 meters looking forward 0.000000 meters along route # Maximum depth: 2068.475028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.475028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665420; longitude = -122.113581; captureRadius = 10; duration = 151; initialDepth = 2016.423889; finalDepth = 2018.475028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2018.475028 # Seafloor depth: -2068.475028 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 132.976695 meters # Minimum depth: 2066.423889 meters looking forward 0.000000 meters along route # Maximum depth: 2066.423889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.423889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665047; longitude = -122.114293; captureRadius = 10; duration = 265; # abortOnTimeout = True; initialDepth = 1997.662018; finalDepth = 2016.423889; 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: 2016.423889 # Seafloor depth: -2066.423889 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 101.096320 meters # Minimum depth: 2047.662018 meters looking forward 0.000000 meters along route # Maximum depth: 2047.662018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.662018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666086; longitude = -122.115035; captureRadius = 10; duration = 202; # abortOnTimeout = True; initialDepth = 2007.694531; finalDepth = 1997.662018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1997.662018 # Seafloor depth: -2047.662018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 79.265491 meters # Minimum depth: 2057.694531 meters looking forward 0.000000 meters along route # Maximum depth: 2057.694531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.694531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666591; longitude = -122.114094; captureRadius = 10; duration = 158; initialDepth = 2006.454442; finalDepth = 2007.694531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2007.694531 # Seafloor depth: -2057.694531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.194118 meters # Minimum depth: 2056.454442 meters looking forward 0.000000 meters along route # Maximum depth: 2056.454442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.454442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666988; longitude = -122.113356; captureRadius = 10; duration = 168; initialDepth = 2007.136007; finalDepth = 2006.454442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2006.454442 # Seafloor depth: -2056.454442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.193813 meters # Minimum depth: 2057.136007 meters looking forward 0.000000 meters along route # Maximum depth: 2057.136007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.136007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667409; longitude = -122.112572; captureRadius = 10; duration = 168; initialDepth = 2006.406136; finalDepth = 2007.136007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2007.136007 # Seafloor depth: -2057.136007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.914096 meters # Minimum depth: 2056.406136 meters looking forward 0.000000 meters along route # Maximum depth: 2056.406136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.406136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667829; longitude = -122.111788; captureRadius = 10; duration = 153; initialDepth = 2002.206658; finalDepth = 2006.406136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2006.406136 # Seafloor depth: -2056.406136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.445037 meters # Minimum depth: 2052.206658 meters looking forward 0.000000 meters along route # Maximum depth: 2052.206658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.206658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668214; longitude = -122.111072; captureRadius = 10; duration = 158; initialDepth = 1997.044586; finalDepth = 2002.206658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 2002.206658 # Seafloor depth: -2052.206658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.192945 meters # Minimum depth: 2047.044586 meters looking forward 0.000000 meters along route # Maximum depth: 2047.044586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.044586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668611; longitude = -122.110332; captureRadius = 10; duration = 168; initialDepth = 1990.338636; finalDepth = 1997.044586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1997.044586 # Seafloor depth: -2047.044586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.192641 meters # Minimum depth: 2040.338636 meters looking forward 0.000000 meters along route # Maximum depth: 2040.338636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.338636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669032; longitude = -122.109548; captureRadius = 10; duration = 168; initialDepth = 1984.845668; finalDepth = 1990.338636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1990.338636 # Seafloor depth: -2040.338636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.732374 meters # Minimum depth: 2034.845668 meters looking forward 0.000000 meters along route # Maximum depth: 2034.845668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1984.845668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669453; longitude = -122.108764; captureRadius = 10; duration = 153; initialDepth = 1991.045307; finalDepth = 1984.845668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1984.845668 # Seafloor depth: -2034.845668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.624580 meters # Minimum depth: 2041.045307 meters looking forward 0.000000 meters along route # Maximum depth: 2041.045307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.045307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669836; longitude = -122.108049; captureRadius = 10; duration = 159; initialDepth = 1972.970146; finalDepth = 1991.045307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1991.045307 # Seafloor depth: -2041.045307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.191771 meters # Minimum depth: 2022.970146 meters looking forward 0.000000 meters along route # Maximum depth: 2022.970146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1972.970146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670234; longitude = -122.107308; captureRadius = 10; duration = 168; initialDepth = 1965.987125; finalDepth = 1972.970146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1972.970146 # Seafloor depth: -2022.970146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.191468 meters # Minimum depth: 2015.987125 meters looking forward 0.000000 meters along route # Maximum depth: 2015.987125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1965.987125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670655; longitude = -122.106524; captureRadius = 10; duration = 168; initialDepth = 1965.151975; finalDepth = 1965.987125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1965.987125 # Seafloor depth: -2015.987125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.550658 meters # Minimum depth: 2015.151975 meters looking forward 0.000000 meters along route # Maximum depth: 2015.151975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1965.151975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671076; longitude = -122.105740; captureRadius = 10; duration = 153; initialDepth = 1962.581423; finalDepth = 1965.151975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1965.151975 # Seafloor depth: -2015.151975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.804118 meters # Minimum depth: 2012.581423 meters looking forward 0.000000 meters along route # Maximum depth: 2012.581423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1962.581423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671459; longitude = -122.105027; captureRadius = 10; duration = 159; initialDepth = 1955.241401; finalDepth = 1962.581423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1962.581423 # Seafloor depth: -2012.581423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.190598 meters # Minimum depth: 2005.241401 meters looking forward 0.000000 meters along route # Maximum depth: 2005.241401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1955.241401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671858; longitude = -122.104284; captureRadius = 10; duration = 168; initialDepth = 1951.278688; finalDepth = 1955.241401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1955.241401 # Seafloor depth: -2005.241401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.190295 meters # Minimum depth: 2001.278688 meters looking forward 0.000000 meters along route # Maximum depth: 2001.278688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1951.278688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672279; longitude = -122.103500; captureRadius = 10; duration = 168; initialDepth = 1946.420661; finalDepth = 1951.278688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1951.278688 # Seafloor depth: -2001.278688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.368947 meters # Minimum depth: 1996.420661 meters looking forward 0.000000 meters along route # Maximum depth: 1996.420661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.420661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672700; longitude = -122.102716; captureRadius = 10; duration = 152; initialDepth = 1946.239697; finalDepth = 1946.420661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1946.420661 # Seafloor depth: -1996.420661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 79.983650 meters # Minimum depth: 1996.239697 meters looking forward 0.000000 meters along route # Maximum depth: 1996.239697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.239697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673081; longitude = -122.102005; captureRadius = 10; duration = 159; initialDepth = 1941.843374; finalDepth = 1946.239697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1946.239697 # Seafloor depth: -1996.239697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.189426 meters # Minimum depth: 1991.843374 meters looking forward 0.000000 meters along route # Maximum depth: 1991.843374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.843374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673481; longitude = -122.101260; captureRadius = 10; duration = 168; initialDepth = 1939.410014; finalDepth = 1941.843374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1941.843374 # Seafloor depth: -1991.843374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.189122 meters # Minimum depth: 1989.410014 meters looking forward 0.000000 meters along route # Maximum depth: 1989.410014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1939.410014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673902; longitude = -122.100476; captureRadius = 10; duration = 168; initialDepth = 1936.076692; finalDepth = 1939.410014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1939.410014 # Seafloor depth: -1989.410014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.187241 meters # Minimum depth: 1986.076692 meters looking forward 0.000000 meters along route # Maximum depth: 1986.076692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.076692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674323; longitude = -122.099692; captureRadius = 10; duration = 152; initialDepth = 1929.818772; finalDepth = 1936.076692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1936.076692 # Seafloor depth: -1986.076692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 80.163178 meters # Minimum depth: 1979.818772 meters looking forward 0.000000 meters along route # Maximum depth: 1979.818772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1929.818772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674704; longitude = -122.098983; captureRadius = 10; duration = 160; initialDepth = 1925.943925; finalDepth = 1929.818772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1929.818772 # Seafloor depth: -1979.818772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.188253 meters # Minimum depth: 1975.943925 meters looking forward 0.000000 meters along route # Maximum depth: 1975.943925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.943925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675105; longitude = -122.098237; captureRadius = 10; duration = 168; initialDepth = 1921.512754; finalDepth = 1925.943925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1925.943925 # Seafloor depth: -1975.943925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.187949 meters # Minimum depth: 1971.512754 meters looking forward 0.000000 meters along route # Maximum depth: 1971.512754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.512754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675526; longitude = -122.097453; captureRadius = 10; duration = 168; initialDepth = 1889.646579; finalDepth = 1921.512754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1921.512754 # Seafloor depth: -1971.512754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 76.005541 meters # Minimum depth: 1939.646579 meters looking forward 0.000000 meters along route # Maximum depth: 1939.646579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.646579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675947; longitude = -122.096669; captureRadius = 10; duration = 152; initialDepth = 1864.107950; finalDepth = 1889.646579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.646579 # Seafloor depth: -1939.646579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 80.342700 meters # Minimum depth: 1914.107950 meters looking forward 0.000000 meters along route # Maximum depth: 1914.107950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.107950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676327; longitude = -122.095961; captureRadius = 10; duration = 160; initialDepth = 1847.844516; finalDepth = 1864.107950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.10795 # Seafloor depth: -1914.107950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.187081 meters # Minimum depth: 1897.844516 meters looking forward 0.000000 meters along route # Maximum depth: 1897.844516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.844516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676728; longitude = -122.095213; captureRadius = 10; duration = 168; initialDepth = 1832.178881; finalDepth = 1847.844516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1847.844516 # Seafloor depth: -1897.844516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 84.186776 meters # Minimum depth: 1882.178881 meters looking forward 0.000000 meters along route # Maximum depth: 1882.178881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.178881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677149; longitude = -122.094429; captureRadius = 10; duration = 168; initialDepth = 1820.858554; finalDepth = 1832.178881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1832.178881 # Seafloor depth: -1882.178881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 77.413295 meters # Minimum depth: 1870.858554 meters looking forward 0.000000 meters along route # Maximum depth: 1870.858554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.858554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677570; longitude = -122.093645; captureRadius = 10; duration = 154; initialDepth = 1807.245514; finalDepth = 1820.858554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1820.858554 # Seafloor depth: -1870.858554 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 71.572329 meters # Minimum depth: 1857.245514 meters looking forward 0.000000 meters along route # Maximum depth: 1857.245514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.245514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677957; longitude = -122.092924; captureRadius = 10; duration = 143; # abortOnTimeout = True; initialDepth = 1807.660362; finalDepth = 1807.245514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.245514 # Seafloor depth: -1857.245514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 81.903055 meters # Minimum depth: 1857.660362 meters looking forward 0.000000 meters along route # Maximum depth: 1857.660362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.660362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678580; longitude = -122.093132; captureRadius = 10; duration = 163; initialDepth = 1824.447296; finalDepth = 1807.660362; 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: 1807.660362 # Seafloor depth: -1857.660362 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 89.363518 meters # Minimum depth: 1874.447296 meters looking forward 0.000000 meters along route # Maximum depth: 1874.447296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.447296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679293; longitude = -122.093370; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 1839.398203; finalDepth = 1824.447296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1824.447296 # Seafloor depth: -1874.447296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 83.916234 meters # Minimum depth: 1889.398203 meters looking forward 0.000000 meters along route # Maximum depth: 1889.398203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.398203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678849; longitude = -122.094205; captureRadius = 10; duration = 167; initialDepth = 1853.696366; finalDepth = 1839.398203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.398203 # Seafloor depth: -1889.398203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 79.341654 meters # Minimum depth: 1903.696366 meters looking forward 0.000000 meters along route # Maximum depth: 1903.696366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.696366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678433; longitude = -122.094989; captureRadius = 10; duration = 158; initialDepth = 1860.498774; finalDepth = 1853.696366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1853.696366 # Seafloor depth: -1903.696366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 76.503582 meters # Minimum depth: 1910.498774 meters looking forward 0.000000 meters along route # Maximum depth: 1910.498774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.498774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678039; longitude = -122.095730; captureRadius = 10; duration = 153; initialDepth = 1867.674833; finalDepth = 1860.498774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1860.498774 # Seafloor depth: -1910.498774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.917096 meters # Minimum depth: 1917.674833 meters looking forward 0.000000 meters along route # Maximum depth: 1917.674833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.674833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677659; longitude = -122.096445; captureRadius = 10; duration = 167; initialDepth = 1881.683193; finalDepth = 1867.674833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1867.674833 # Seafloor depth: -1917.674833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 75.685039 meters # Minimum depth: 1931.683193 meters looking forward 0.000000 meters along route # Maximum depth: 1931.683193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.683193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677243; longitude = -122.097229; captureRadius = 10; duration = 151; initialDepth = 1916.975706; finalDepth = 1881.683193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1881.683193 # Seafloor depth: -1931.683193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 80.161799 meters # Minimum depth: 1969.143064 meters looking forward 0.000000 meters along route # Maximum depth: 1969.143064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.975706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676867; longitude = -122.097936; captureRadius = 10; duration = 160; initialDepth = 1926.777618; finalDepth = 1916.975706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1673583923589 # Actual altitude: 52.1673583923589 # Commanded vehicle depth: 1916.97570560764 # Seafloor depth: -1969.143064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.917959 meters # Minimum depth: 1976.777618 meters looking forward 0.000000 meters along route # Maximum depth: 1976.777618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.777618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676470; longitude = -122.098685; captureRadius = 10; duration = 167; initialDepth = 1929.047967; finalDepth = 1926.777618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1673583923589 # Actual altitude: 52.1673583923589 # Commanded vehicle depth: 1926.777618 # Seafloor depth: -1976.777618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.918261 meters # Minimum depth: 1979.047967 meters looking forward 0.000000 meters along route # Maximum depth: 1979.047967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1929.047967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676053; longitude = -122.099469; captureRadius = 10; duration = 167; initialDepth = 1932.950623; finalDepth = 1929.047967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1929.047967 # Seafloor depth: -1979.047967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 78.921533 meters # Minimum depth: 1982.950623 meters looking forward 0.000000 meters along route # Maximum depth: 1982.950623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.950623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675637; longitude = -122.100252; captureRadius = 10; duration = 157; initialDepth = 1935.108971; finalDepth = 1932.950623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1932.950623 # Seafloor depth: -1982.950623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 76.927466 meters # Minimum depth: 1985.108971 meters looking forward 0.000000 meters along route # Maximum depth: 1985.108971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.108971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675245; longitude = -122.100990; captureRadius = 10; duration = 153; initialDepth = 1938.601330; finalDepth = 1935.108971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1935.108971 # Seafloor depth: -1985.108971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.919124 meters # Minimum depth: 1988.601330 meters looking forward 0.000000 meters along route # Maximum depth: 1988.601330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1938.601330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674863; longitude = -122.101708; captureRadius = 10; duration = 167; initialDepth = 1943.751149; finalDepth = 1938.601330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1938.60133 # Seafloor depth: -1988.601330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 75.264824 meters # Minimum depth: 1993.751149 meters looking forward 0.000000 meters along route # Maximum depth: 1993.751149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.751149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674447; longitude = -122.102492; captureRadius = 10; duration = 150; initialDepth = 1947.171408; finalDepth = 1943.751149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1943.751149 # Seafloor depth: -1993.751149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 80.585777 meters # Minimum depth: 1997.171408 meters looking forward 0.000000 meters along route # Maximum depth: 1997.171408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.171408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674073; longitude = -122.103195; captureRadius = 10; duration = 161; initialDepth = 1952.384197; finalDepth = 1947.171408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1947.171408 # Seafloor depth: -1997.171408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.919986 meters # Minimum depth: 2002.384197 meters looking forward 0.000000 meters along route # Maximum depth: 2002.384197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.384197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673673; longitude = -122.103948; captureRadius = 10; duration = 167; initialDepth = 1951.956396; finalDepth = 1952.384197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1952.384197 # Seafloor depth: -2002.384197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.920287 meters # Minimum depth: 2001.956396 meters looking forward 0.000000 meters along route # Maximum depth: 2001.956396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1951.956396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673257; longitude = -122.104732; captureRadius = 10; duration = 167; initialDepth = 1957.110181; finalDepth = 1951.956396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1951.956396 # Seafloor depth: -2001.956396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 78.501391 meters # Minimum depth: 2007.110181 meters looking forward 0.000000 meters along route # Maximum depth: 2007.110181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.110181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672840; longitude = -122.105516; captureRadius = 10; duration = 157; initialDepth = 1963.960132; finalDepth = 1957.110181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1957.110181 # Seafloor depth: -2007.110181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 77.351373 meters # Minimum depth: 2013.960132 meters looking forward 0.000000 meters along route # Maximum depth: 2013.960132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1963.960132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672450; longitude = -122.106249; captureRadius = 10; duration = 154; initialDepth = 1967.085346; finalDepth = 1963.960132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1963.960132 # Seafloor depth: -2013.960132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 86.114067 meters # Minimum depth: 2017.085346 meters looking forward 0.000000 meters along route # Maximum depth: 2017.085346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1967.085346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672067; longitude = -122.106972; captureRadius = 10; duration = 172; initialDepth = 1973.436176; finalDepth = 1967.085346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1967.085346 # Seafloor depth: -2017.085346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 81.728536 meters # Minimum depth: 2023.436176 meters looking forward 0.000000 meters along route # Maximum depth: 2023.436176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1973.436176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671639; longitude = -122.107776; captureRadius = 10; duration = 163; initialDepth = 1977.408542; finalDepth = 1973.436176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1973.436176 # Seafloor depth: -2023.436176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.921754 meters # Minimum depth: 2027.408542 meters looking forward 0.000000 meters along route # Maximum depth: 2027.408542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.408542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671234; longitude = -122.108540; captureRadius = 10; duration = 167; initialDepth = 1981.490493; finalDepth = 1977.408542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1977.408542 # Seafloor depth: -2027.408542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 83.922056 meters # Minimum depth: 2031.490493 meters looking forward 0.000000 meters along route # Maximum depth: 2031.490493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1981.490493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670817; longitude = -122.109324; captureRadius = 10; duration = 167; initialDepth = 1986.527116; finalDepth = 1981.490493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1981.490493 # Seafloor depth: -2031.490493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 77.361968 meters # Minimum depth: 2036.527116 meters looking forward 0.000000 meters along route # Maximum depth: 2036.527116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1986.527116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670401; longitude = -122.110108; captureRadius = 10; duration = 154; initialDepth = 1991.199010; finalDepth = 1986.527116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1986.527116 # Seafloor depth: -2036.527116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 78.494080 meters # Minimum depth: 2041.199010 meters looking forward 0.000000 meters along route # Maximum depth: 2041.199010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.199010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670017; longitude = -122.110830; captureRadius = 10; duration = 156; initialDepth = 1994.109661; finalDepth = 1991.199010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1991.19901 # Seafloor depth: -2041.199010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 85.669447 meters # Minimum depth: 2044.109661 meters looking forward 0.000000 meters along route # Maximum depth: 2044.109661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.109661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669627; longitude = -122.111564; captureRadius = 10; duration = 171; initialDepth = 1980.797760; finalDepth = 1994.109661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1994.109661 # Seafloor depth: -2044.109661 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 100.647331 meters # Minimum depth: 2030.797760 meters looking forward 0.000000 meters along route # Maximum depth: 2030.797760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1980.797760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669202; longitude = -122.112364; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 1962.782115; finalDepth = 1980.797760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1980.79776 # Seafloor depth: -2030.797760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 80.992808 meters # Minimum depth: 2012.782115 meters looking forward 0.000000 meters along route # Maximum depth: 2012.782115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1962.782115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670107; longitude = -122.112446; captureRadius = 10; duration = 161; initialDepth = 1961.785400; finalDepth = 1962.782115; 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: 1962.782115 # Seafloor depth: -2012.782115 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 136.061676 meters # Minimum depth: 2011.785400 meters looking forward 0.000000 meters along route # Maximum depth: 2011.785400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1961.785400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670835; longitude = -122.112512; captureRadius = 10; duration = 272; # abortOnTimeout = True; initialDepth = 1981.586904; finalDepth = 1961.785400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1961.7854 # Seafloor depth: -2011.785400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 85.881800 meters # Minimum depth: 2031.586904 meters looking forward 0.000000 meters along route # Maximum depth: 2031.586904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1981.586904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671494; longitude = -122.111228; captureRadius = 10; duration = 171; initialDepth = 1977.823546; finalDepth = 1981.586904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1981.586904 # Seafloor depth: -2031.586904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 80.231358 meters # Minimum depth: 2027.823546 meters looking forward 0.000000 meters along route # Maximum depth: 2027.823546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.823546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671910; longitude = -122.110417; captureRadius = 10; duration = 160; initialDepth = 1976.828779; finalDepth = 1977.823546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1977.823546 # Seafloor depth: -2027.823546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.056138 meters # Minimum depth: 2026.828779 meters looking forward 0.000000 meters along route # Maximum depth: 2026.828779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1976.828779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672298; longitude = -122.109660; captureRadius = 10; duration = 166; initialDepth = 1973.278720; finalDepth = 1976.828779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1976.828779 # Seafloor depth: -2026.828779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 78.721230 meters # Minimum depth: 2023.278720 meters looking forward 0.000000 meters along route # Maximum depth: 2023.278720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1973.278720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672700; longitude = -122.108876; captureRadius = 10; duration = 157; initialDepth = 1969.028590; finalDepth = 1973.278720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1973.27872 # Seafloor depth: -2023.278720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 75.525100 meters # Minimum depth: 2019.028590 meters looking forward 0.000000 meters along route # Maximum depth: 2019.028590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1969.028590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673081; longitude = -122.108133; captureRadius = 10; duration = 151; initialDepth = 1962.118959; finalDepth = 1969.028590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1969.02859 # Seafloor depth: -2019.028590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.055296 meters # Minimum depth: 2012.118959 meters looking forward 0.000000 meters along route # Maximum depth: 2012.118959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1962.118959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673447; longitude = -122.107420; captureRadius = 10; duration = 166; initialDepth = 1961.855423; finalDepth = 1962.118959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1962.118959 # Seafloor depth: -2012.118959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.425829 meters # Minimum depth: 2011.855423 meters looking forward 0.000000 meters along route # Maximum depth: 2011.855423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1961.855423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673849; longitude = -122.106636; captureRadius = 10; duration = 166; initialDepth = 1957.683019; finalDepth = 1961.855423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1961.855423 # Seafloor depth: -2011.855423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 82.683878 meters # Minimum depth: 2007.683019 meters looking forward 0.000000 meters along route # Maximum depth: 2007.683019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.683019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674253; longitude = -122.105849; captureRadius = 10; duration = 165; initialDepth = 1957.042498; finalDepth = 1957.683019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1957.683019 # Seafloor depth: -2007.683019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.857428 meters # Minimum depth: 2007.042498 meters looking forward 0.000000 meters along route # Maximum depth: 2007.042498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.042498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674654; longitude = -122.105068; captureRadius = 10; duration = 169; initialDepth = 1951.627264; finalDepth = 1957.042498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1957.042498 # Seafloor depth: -2007.042498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 81.251102 meters # Minimum depth: 2001.627264 meters looking forward 0.000000 meters along route # Maximum depth: 2001.627264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1951.627264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675065; longitude = -122.104267; captureRadius = 10; duration = 162; initialDepth = 1949.063907; finalDepth = 1951.627264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1951.627264 # Seafloor depth: -2001.627264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 86.289007 meters # Minimum depth: 1999.063907 meters looking forward 0.000000 meters along route # Maximum depth: 1999.063907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.063907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675458; longitude = -122.103500; captureRadius = 10; duration = 172; initialDepth = 1917.195835; finalDepth = 1949.063907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1949.063907 # Seafloor depth: -1999.063907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 79.818345 meters # Minimum depth: 1967.195835 meters looking forward 0.000000 meters along route # Maximum depth: 1967.195835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.195835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675876; longitude = -122.102686; captureRadius = 10; duration = 159; initialDepth = 1925.142033; finalDepth = 1917.195835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1917.195835 # Seafloor depth: -1967.195835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.053234 meters # Minimum depth: 1975.142033 meters looking forward 0.000000 meters along route # Maximum depth: 1975.142033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.142033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676262; longitude = -122.101932; captureRadius = 10; duration = 166; initialDepth = 1925.258478; finalDepth = 1925.142033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1925.142033 # Seafloor depth: -1975.142033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 79.128684 meters # Minimum depth: 1975.258478 meters looking forward 0.000000 meters along route # Maximum depth: 1975.258478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.258478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676664; longitude = -122.101148; captureRadius = 10; duration = 158; initialDepth = 1924.249847; finalDepth = 1925.258478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1925.258478 # Seafloor depth: -1975.258478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 75.112255 meters # Minimum depth: 1974.249847 meters looking forward 0.000000 meters along route # Maximum depth: 1974.249847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.249847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677048; longitude = -122.100401; captureRadius = 10; duration = 150; initialDepth = 1922.205896; finalDepth = 1924.249847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1924.249847 # Seafloor depth: -1974.249847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.052393 meters # Minimum depth: 1972.205896 meters looking forward 0.000000 meters along route # Maximum depth: 1972.205896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1922.205896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677411; longitude = -122.099692; captureRadius = 10; duration = 166; initialDepth = 1915.612190; finalDepth = 1922.205896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1922.205896 # Seafloor depth: -1972.205896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.833114 meters # Minimum depth: 1965.612190 meters looking forward 0.000000 meters along route # Maximum depth: 1965.612190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.612190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677814; longitude = -122.098909; captureRadius = 10; duration = 167; initialDepth = 1905.292823; finalDepth = 1915.612190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1915.61219 # Seafloor depth: -1965.612190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 82.270788 meters # Minimum depth: 1955.292823 meters looking forward 0.000000 meters along route # Maximum depth: 1955.292823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.292823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678219; longitude = -122.098117; captureRadius = 10; duration = 164; initialDepth = 1887.586877; finalDepth = 1905.292823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1905.292823 # Seafloor depth: -1955.292823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 85.264661 meters # Minimum depth: 1937.586877 meters looking forward 0.000000 meters along route # Maximum depth: 1937.586877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.586877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678618; longitude = -122.097341; captureRadius = 10; duration = 170; initialDepth = 1875.693087; finalDepth = 1887.586877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1887.586877 # Seafloor depth: -1937.586877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 80.838064 meters # Minimum depth: 1925.693087 meters looking forward 0.000000 meters along route # Maximum depth: 1925.693087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.693087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679031; longitude = -122.096536; captureRadius = 10; duration = 161; initialDepth = 1862.763218; finalDepth = 1875.693087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1875.693087 # Seafloor depth: -1925.693087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.050920 meters # Minimum depth: 1912.763218 meters looking forward 0.000000 meters along route # Maximum depth: 1912.763218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.763218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679422; longitude = -122.095773; captureRadius = 10; duration = 166; initialDepth = 1851.358900; finalDepth = 1862.763218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1862.763218 # Seafloor depth: -1912.763218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 78.104548 meters # Minimum depth: 1901.358900 meters looking forward 0.000000 meters along route # Maximum depth: 1901.358900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.358900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679824; longitude = -122.094989; captureRadius = 10; duration = 156; initialDepth = 1835.095579; finalDepth = 1851.358900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1851.3589 # Seafloor depth: -1901.358900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 76.132095 meters # Minimum depth: 1885.095579 meters looking forward 0.000000 meters along route # Maximum depth: 1885.095579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.095579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680203; longitude = -122.094252; captureRadius = 10; duration = 152; initialDepth = 1809.032612; finalDepth = 1835.095579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1835.095579 # Seafloor depth: -1885.095579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.050080 meters # Minimum depth: 1859.032612 meters looking forward 0.000000 meters along route # Maximum depth: 1859.032612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.032612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680571; longitude = -122.093533; captureRadius = 10; duration = 166; initialDepth = 1775.632062; finalDepth = 1809.032612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1809.032612 # Seafloor depth: -1859.032612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.049785 meters # Minimum depth: 1825.632062 meters looking forward 0.000000 meters along route # Maximum depth: 1825.632062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.632062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680973; longitude = -122.092749; captureRadius = 10; duration = 166; initialDepth = 1737.955839; finalDepth = 1775.632062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.632062 # Seafloor depth: -1825.632062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 83.049491 meters # Minimum depth: 1787.955839 meters looking forward 0.000000 meters along route # Maximum depth: 1787.955839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.955839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681376; longitude = -122.091965; captureRadius = 10; duration = 166; initialDepth = 1719.639819; finalDepth = 1737.955839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.955839 # Seafloor depth: -1787.955839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 84.240371 meters # Minimum depth: 1769.639819 meters looking forward 0.000000 meters along route # Maximum depth: 1769.639819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.639819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681778; longitude = -122.091181; captureRadius = 10; duration = 168; initialDepth = 1726.055292; finalDepth = 1719.639819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1719.639819 # Seafloor depth: -1769.639819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 76.892990 meters # Minimum depth: 1776.055292 meters looking forward 0.000000 meters along route # Maximum depth: 1776.055292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.055292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682186; longitude = -122.090386; captureRadius = 10; duration = 153; initialDepth = 1735.424652; finalDepth = 1726.055292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1726.055292 # Seafloor depth: -1776.055292 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 63.263812 meters # Minimum depth: 1785.424652 meters looking forward 0.000000 meters along route # Maximum depth: 1785.424652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.424652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682558; longitude = -122.089660; captureRadius = 10; duration = 126; # abortOnTimeout = True; initialDepth = 1749.417770; finalDepth = 1735.424652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1735.424652 # Seafloor depth: -1785.424652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 78.677880 meters # Minimum depth: 1799.417770 meters looking forward 0.000000 meters along route # Maximum depth: 1799.417770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.417770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683087; longitude = -122.089924; captureRadius = 10; duration = 157; initialDepth = 1773.701996; finalDepth = 1749.417770; 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: 1749.41777 # Seafloor depth: -1799.417770 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 98.900040 meters # Minimum depth: 1823.701996 meters looking forward 0.000000 meters along route # Maximum depth: 1823.701996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.701996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683745; longitude = -122.090253; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 1774.878933; finalDepth = 1773.701996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1773.701996 # Seafloor depth: -1823.701996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 82.267435 meters # Minimum depth: 1824.878933 meters looking forward 0.000000 meters along route # Maximum depth: 1824.878933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.878933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683267; longitude = -122.091188; captureRadius = 10; duration = 164; initialDepth = 1772.022879; finalDepth = 1774.878933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.878933 # Seafloor depth: -1824.878933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.960462 meters # Minimum depth: 1822.022879 meters looking forward 0.000000 meters along route # Maximum depth: 1822.022879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.022879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682870; longitude = -122.091965; captureRadius = 10; duration = 165; initialDepth = 1774.602978; finalDepth = 1772.022879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.022879 # Seafloor depth: -1822.022879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 77.395900 meters # Minimum depth: 1824.602978 meters looking forward 0.000000 meters along route # Maximum depth: 1824.602978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.602978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682469; longitude = -122.092749; captureRadius = 10; duration = 154; initialDepth = 1790.239820; finalDepth = 1774.602978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.602978 # Seafloor depth: -1824.602978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 76.674307 meters # Minimum depth: 1840.239820 meters looking forward 0.000000 meters along route # Maximum depth: 1840.239820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.239820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682096; longitude = -122.093480; captureRadius = 10; duration = 153; initialDepth = 1804.711036; finalDepth = 1790.239820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1790.23982 # Seafloor depth: -1840.239820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.961301 meters # Minimum depth: 1854.711036 meters looking forward 0.000000 meters along route # Maximum depth: 1854.711036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.711036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681725; longitude = -122.094205; captureRadius = 10; duration = 165; initialDepth = 1833.575003; finalDepth = 1804.711036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.711036 # Seafloor depth: -1854.711036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.990701 meters # Minimum depth: 1883.575003 meters looking forward 0.000000 meters along route # Maximum depth: 1883.575003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.575003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681325; longitude = -122.094989; captureRadius = 10; duration = 165; initialDepth = 1847.910297; finalDepth = 1833.575003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1833.575003 # Seafloor depth: -1883.575003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.932781 meters # Minimum depth: 1897.910297 meters looking forward 0.000000 meters along route # Maximum depth: 1897.910297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.910297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680924; longitude = -122.095773; captureRadius = 10; duration = 165; initialDepth = 1861.695948; finalDepth = 1847.910297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1847.910297 # Seafloor depth: -1897.910297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 85.040750 meters # Minimum depth: 1911.695948 meters looking forward 0.000000 meters along route # Maximum depth: 1911.695948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.695948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680523; longitude = -122.096557; captureRadius = 10; duration = 170; initialDepth = 1876.974485; finalDepth = 1861.695948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1861.695948 # Seafloor depth: -1911.695948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 80.883907 meters # Minimum depth: 1926.974485 meters looking forward 0.000000 meters along route # Maximum depth: 1926.974485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.974485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680112; longitude = -122.097360; captureRadius = 10; duration = 161; initialDepth = 1889.027139; finalDepth = 1876.974485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.974485 # Seafloor depth: -1926.974485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.962769 meters # Minimum depth: 1939.027139 meters looking forward 0.000000 meters along route # Maximum depth: 1939.027139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.027139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679722; longitude = -122.098125; captureRadius = 10; duration = 165; initialDepth = 1906.629250; finalDepth = 1889.027139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.027139 # Seafloor depth: -1939.027139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 78.783883 meters # Minimum depth: 1956.629250 meters looking forward 0.000000 meters along route # Maximum depth: 1956.629250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.629250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679321; longitude = -122.098909; captureRadius = 10; duration = 157; initialDepth = 1916.476894; finalDepth = 1906.629250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1906.62925 # Seafloor depth: -1956.629250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 75.290610 meters # Minimum depth: 1966.476894 meters looking forward 0.000000 meters along route # Maximum depth: 1966.476894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.476894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678941; longitude = -122.099653; captureRadius = 10; duration = 150; initialDepth = 1918.736217; finalDepth = 1916.476894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1916.476894 # Seafloor depth: -1966.476894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.963608 meters # Minimum depth: 1968.736217 meters looking forward 0.000000 meters along route # Maximum depth: 1968.736217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1918.736217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678577; longitude = -122.100364; captureRadius = 10; duration = 165; initialDepth = 1919.569797; finalDepth = 1918.736217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1918.736217 # Seafloor depth: -1968.736217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 84.378853 meters # Minimum depth: 1969.569797 meters looking forward 0.000000 meters along route # Maximum depth: 1969.569797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.569797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678176; longitude = -122.101148; captureRadius = 10; duration = 168; initialDepth = 1917.782348; finalDepth = 1919.569797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1919.569797 # Seafloor depth: -1969.569797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 81.549244 meters # Minimum depth: 1967.782348 meters looking forward 0.000000 meters along route # Maximum depth: 1967.782348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.782348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677769; longitude = -122.101946; captureRadius = 10; duration = 163; initialDepth = 1910.804017; finalDepth = 1917.782348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1917.782348 # Seafloor depth: -1967.782348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.964489 meters # Minimum depth: 1960.804017 meters looking forward 0.000000 meters along route # Maximum depth: 1960.804017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.804017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677375; longitude = -122.102716; captureRadius = 10; duration = 165; initialDepth = 1898.818201; finalDepth = 1910.804017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1910.804017 # Seafloor depth: -1960.804017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 78.121851 meters # Minimum depth: 1948.818201 meters looking forward 0.000000 meters along route # Maximum depth: 1948.818201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.818201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676974; longitude = -122.103500; captureRadius = 10; duration = 156; initialDepth = 1883.645036; finalDepth = 1898.818201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1898.818201 # Seafloor depth: -1948.818201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 75.955837 meters # Minimum depth: 1933.645036 meters looking forward 0.000000 meters along route # Maximum depth: 1933.645036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.645036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676597; longitude = -122.104238; captureRadius = 10; duration = 151; initialDepth = 1919.063824; finalDepth = 1883.645036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1883.645036 # Seafloor depth: -1933.645036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.965328 meters # Minimum depth: 1971.535551 meters looking forward 0.000000 meters along route # Maximum depth: 1971.535551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.063824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676230; longitude = -122.104956; captureRadius = 10; duration = 165; initialDepth = 1943.944460; finalDepth = 1919.063824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4717272135974 # Actual altitude: 52.4717272135974 # Commanded vehicle depth: 1919.0638237864 # Seafloor depth: -1971.535551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 83.716930 meters # Minimum depth: 1993.944460 meters looking forward 0.000000 meters along route # Maximum depth: 1993.944460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.944460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675829; longitude = -122.105740; captureRadius = 10; duration = 167; initialDepth = 1953.188133; finalDepth = 1943.944460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4717272135974 # Actual altitude: 52.4717272135974 # Commanded vehicle depth: 1943.94446 # Seafloor depth: -1993.944460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.214608 meters # Minimum depth: 2003.188133 meters looking forward 0.000000 meters along route # Maximum depth: 2003.188133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.188133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675425; longitude = -122.106531; captureRadius = 10; duration = 164; initialDepth = 1955.550651; finalDepth = 1953.188133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1953.188133 # Seafloor depth: -2003.188133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 82.966210 meters # Minimum depth: 2005.550651 meters looking forward 0.000000 meters along route # Maximum depth: 2005.550651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1955.550651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675028; longitude = -122.107308; captureRadius = 10; duration = 165; initialDepth = 1936.799772; finalDepth = 1955.550651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1955.550651 # Seafloor depth: -2005.550651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 77.459791 meters # Minimum depth: 1986.799772 meters looking forward 0.000000 meters along route # Maximum depth: 1986.799772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.799772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674627; longitude = -122.108092; captureRadius = 10; duration = 154; initialDepth = 1947.061963; finalDepth = 1936.799772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1936.799772 # Seafloor depth: -1986.799772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 76.621092 meters # Minimum depth: 1997.061963 meters looking forward 0.000000 meters along route # Maximum depth: 1997.061963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.061963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674253; longitude = -122.108824; captureRadius = 10; duration = 153; initialDepth = 1959.298104; finalDepth = 1947.061963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1947.061963 # Seafloor depth: -1997.061963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 78.118483 meters # Minimum depth: 2009.298104 meters looking forward 0.000000 meters along route # Maximum depth: 2009.298104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1959.298104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673883; longitude = -122.109548; captureRadius = 10; duration = 156; initialDepth = 1960.554260; finalDepth = 1959.298104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1959.298104 # Seafloor depth: -2009.298104 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 82.770725 meters # Minimum depth: 2010.554260 meters looking forward 0.000000 meters along route # Maximum depth: 2010.554260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1960.554260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673506; longitude = -122.110286; captureRadius = 10; duration = 165; # abortOnTimeout = True; initialDepth = 1945.787151; finalDepth = 1960.554260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1960.55426 # Seafloor depth: -2010.554260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 85.374680 meters # Minimum depth: 1995.787151 meters looking forward 0.000000 meters along route # Maximum depth: 1995.787151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.787151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674163; longitude = -122.110725; captureRadius = 10; duration = 170; initialDepth = 1933.541321; finalDepth = 1945.787151; 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: 1945.787151 # Seafloor depth: -1995.787151 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 105.549138 meters # Minimum depth: 1983.541321 meters looking forward 0.000000 meters along route # Maximum depth: 1983.541321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.541321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674841; longitude = -122.111177; captureRadius = 10; duration = 211; # abortOnTimeout = True; initialDepth = 1938.444935; finalDepth = 1933.541321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1933.541321 # Seafloor depth: -1983.541321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 77.040208 meters # Minimum depth: 1988.444935 meters looking forward 0.000000 meters along route # Maximum depth: 1988.444935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1938.444935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675335; longitude = -122.110168; captureRadius = 10; duration = 154; initialDepth = 1931.428925; finalDepth = 1938.444935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1938.444935 # Seafloor depth: -1988.444935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.039956 meters # Minimum depth: 1981.428925 meters looking forward 0.000000 meters along route # Maximum depth: 1981.428925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.428925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675696; longitude = -122.109431; captureRadius = 10; duration = 154; initialDepth = 1916.064567; finalDepth = 1931.428925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1931.428925 # Seafloor depth: -1981.428925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.039704 meters # Minimum depth: 1966.064567 meters looking forward 0.000000 meters along route # Maximum depth: 1966.064567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.064567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676056; longitude = -122.108694; captureRadius = 10; duration = 154; initialDepth = 1946.439231; finalDepth = 1916.064567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1916.064567 # Seafloor depth: -1966.064567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.039454 meters # Minimum depth: 1996.439231 meters looking forward 0.000000 meters along route # Maximum depth: 1996.439231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.439231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676417; longitude = -122.107957; captureRadius = 10; duration = 154; initialDepth = 1935.076911; finalDepth = 1946.439231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1946.439231 # Seafloor depth: -1996.439231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.039202 meters # Minimum depth: 1985.076911 meters looking forward 0.000000 meters along route # Maximum depth: 1985.076911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.076911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676777; longitude = -122.107220; captureRadius = 10; duration = 154; initialDepth = 1911.642745; finalDepth = 1935.076911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1935.076911 # Seafloor depth: -1985.076911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.712038 meters # Minimum depth: 1961.642745 meters looking forward 0.000000 meters along route # Maximum depth: 1961.642745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.642745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677138; longitude = -122.106483; captureRadius = 10; duration = 155; initialDepth = 1846.623423; finalDepth = 1911.642745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1911.642745 # Seafloor depth: -1961.642745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 76.365611 meters # Minimum depth: 1896.623423 meters looking forward 0.000000 meters along route # Maximum depth: 1896.623423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.623423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677502; longitude = -122.105740; captureRadius = 10; duration = 152; initialDepth = 1857.348323; finalDepth = 1846.623423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1846.623423 # Seafloor depth: -1896.623423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.038448 meters # Minimum depth: 1907.348323 meters looking forward 0.000000 meters along route # Maximum depth: 1907.348323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.348323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677859; longitude = -122.105010; captureRadius = 10; duration = 154; initialDepth = 1888.773830; finalDepth = 1857.348323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1857.348323 # Seafloor depth: -1907.348323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.038196 meters # Minimum depth: 1938.773830 meters looking forward 0.000000 meters along route # Maximum depth: 1938.773830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.773830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678219; longitude = -122.104273; captureRadius = 10; duration = 154; initialDepth = 1911.097163; finalDepth = 1888.773830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1888.77383 # Seafloor depth: -1938.773830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.037945 meters # Minimum depth: 1961.097163 meters looking forward 0.000000 meters along route # Maximum depth: 1961.097163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.097163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678580; longitude = -122.103536; captureRadius = 10; duration = 154; initialDepth = 1913.855998; finalDepth = 1911.097163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1911.097163 # Seafloor depth: -1961.097163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 78.926228 meters # Minimum depth: 1963.855998 meters looking forward 0.000000 meters along route # Maximum depth: 1963.855998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1913.855998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678941; longitude = -122.102799; captureRadius = 10; duration = 157; initialDepth = 1913.276470; finalDepth = 1913.855998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1913.855998 # Seafloor depth: -1963.855998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 75.148907 meters # Minimum depth: 1963.276470 meters looking forward 0.000000 meters along route # Maximum depth: 1963.276470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1913.276470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679310; longitude = -122.102044; captureRadius = 10; duration = 150; initialDepth = 1914.048493; finalDepth = 1913.276470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1913.27647 # Seafloor depth: -1963.276470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.070071 meters # Minimum depth: 1964.048493 meters looking forward 0.000000 meters along route # Maximum depth: 1964.048493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.048493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679662; longitude = -122.101326; captureRadius = 10; duration = 154; initialDepth = 1913.940369; finalDepth = 1914.048493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1914.048493 # Seafloor depth: -1964.048493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.004060 meters # Minimum depth: 1963.940369 meters looking forward 0.000000 meters along route # Maximum depth: 1963.940369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1913.940369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680022; longitude = -122.100588; captureRadius = 10; duration = 154; initialDepth = 1909.564775; finalDepth = 1913.940369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1913.940369 # Seafloor depth: -1963.940369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.036688 meters # Minimum depth: 1959.564775 meters looking forward 0.000000 meters along route # Maximum depth: 1959.564775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1909.564775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680383; longitude = -122.099852; captureRadius = 10; duration = 154; initialDepth = 1892.772739; finalDepth = 1909.564775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1909.564775 # Seafloor depth: -1959.564775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.036436 meters # Minimum depth: 1942.772739 meters looking forward 0.000000 meters along route # Maximum depth: 1942.772739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.772739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680743; longitude = -122.099115; captureRadius = 10; duration = 154; initialDepth = 1878.540339; finalDepth = 1892.772739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1892.772739 # Seafloor depth: -1942.772739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.036186 meters # Minimum depth: 1928.540339 meters looking forward 0.000000 meters along route # Maximum depth: 1928.540339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.540339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681104; longitude = -122.098378; captureRadius = 10; duration = 154; initialDepth = 1863.361357; finalDepth = 1878.540339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1878.540339 # Seafloor depth: -1928.540339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 78.284243 meters # Minimum depth: 1913.361357 meters looking forward 0.000000 meters along route # Maximum depth: 1913.361357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.361357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681465; longitude = -122.097641; captureRadius = 10; duration = 156; initialDepth = 1848.664719; finalDepth = 1863.361357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1863.361357 # Seafloor depth: -1913.361357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 75.787374 meters # Minimum depth: 1898.664719 meters looking forward 0.000000 meters along route # Maximum depth: 1898.664719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.664719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681831; longitude = -122.096893; captureRadius = 10; duration = 151; initialDepth = 1835.986768; finalDepth = 1848.664719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1848.664719 # Seafloor depth: -1898.664719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.035431 meters # Minimum depth: 1885.986768 meters looking forward 0.000000 meters along route # Maximum depth: 1885.986768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.986768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682186; longitude = -122.096168; captureRadius = 10; duration = 154; initialDepth = 1822.421293; finalDepth = 1835.986768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1835.986768 # Seafloor depth: -1885.986768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.035180 meters # Minimum depth: 1872.421293 meters looking forward 0.000000 meters along route # Maximum depth: 1872.421293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.421293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682546; longitude = -122.095431; captureRadius = 10; duration = 154; initialDepth = 1809.144269; finalDepth = 1822.421293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.421293 # Seafloor depth: -1872.421293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.034929 meters # Minimum depth: 1859.144269 meters looking forward 0.000000 meters along route # Maximum depth: 1859.144269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.144269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682907; longitude = -122.094694; captureRadius = 10; duration = 154; initialDepth = 1816.859354; finalDepth = 1809.144269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1809.144269 # Seafloor depth: -1859.144269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.034677 meters # Minimum depth: 1866.859354 meters looking forward 0.000000 meters along route # Maximum depth: 1866.859354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.859354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683267; longitude = -122.093957; captureRadius = 10; duration = 154; initialDepth = 1812.057258; finalDepth = 1816.859354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.859354 # Seafloor depth: -1866.859354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.034426 meters # Minimum depth: 1862.057258 meters looking forward 0.000000 meters along route # Maximum depth: 1862.057258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.057258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683628; longitude = -122.093220; captureRadius = 10; duration = 154; initialDepth = 1804.686392; finalDepth = 1812.057258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.057258 # Seafloor depth: -1862.057258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 77.642288 meters # Minimum depth: 1854.686392 meters looking forward 0.000000 meters along route # Maximum depth: 1854.686392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.686392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683988; longitude = -122.092484; captureRadius = 10; duration = 155; initialDepth = 1784.870406; finalDepth = 1804.686392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.686392 # Seafloor depth: -1854.686392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 76.425811 meters # Minimum depth: 1834.870406 meters looking forward 0.000000 meters along route # Maximum depth: 1834.870406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.870406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684352; longitude = -122.091741; captureRadius = 10; duration = 152; initialDepth = 1764.377518; finalDepth = 1784.870406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.870406 # Seafloor depth: -1834.870406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 79.141347 meters # Minimum depth: 1814.377518 meters looking forward 0.000000 meters along route # Maximum depth: 1814.377518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.377518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684710; longitude = -122.091010; captureRadius = 10; duration = 158; initialDepth = 1698.085541; finalDepth = 1764.377518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.377518 # Seafloor depth: -1814.377518 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 90.645473 meters # Minimum depth: 1748.085541 meters looking forward 0.000000 meters along route # Maximum depth: 1748.085541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.085541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685080; longitude = -122.090253; captureRadius = 10; duration = 181; # abortOnTimeout = True; initialDepth = 1705.932872; finalDepth = 1698.085541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.085541 # Seafloor depth: -1748.085541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 77.592853 meters # Minimum depth: 1755.932872 meters looking forward 0.000000 meters along route # Maximum depth: 1755.932872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.932872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685800; longitude = -122.090733; captureRadius = 10; duration = 155; initialDepth = 1694.948547; finalDepth = 1705.932872; 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: 1705.932872 # Seafloor depth: -1755.932872 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 73.732058 meters # Minimum depth: 1744.948547 meters looking forward 0.000000 meters along route # Maximum depth: 1744.948547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.948547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686416; longitude = -122.091144; captureRadius = 10; duration = 147; # abortOnTimeout = True; initialDepth = 1727.816959; finalDepth = 1694.948547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1694.948547 # Seafloor depth: -1744.948547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.030574 meters # Minimum depth: 1777.816959 meters looking forward 0.000000 meters along route # Maximum depth: 1777.816959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.816959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686062; longitude = -122.091842; captureRadius = 10; duration = 150; initialDepth = 1758.336383; finalDepth = 1727.816959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.816959 # Seafloor depth: -1777.816959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.030814 meters # Minimum depth: 1808.336383 meters looking forward 0.000000 meters along route # Maximum depth: 1808.336383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.336383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685701; longitude = -122.092553; captureRadius = 10; duration = 150; initialDepth = 1787.163191; finalDepth = 1758.336383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.336383 # Seafloor depth: -1808.336383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.031054 meters # Minimum depth: 1837.163191 meters looking forward 0.000000 meters along route # Maximum depth: 1837.163191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.163191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685341; longitude = -122.093263; captureRadius = 10; duration = 150; initialDepth = 1807.200017; finalDepth = 1787.163191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.163191 # Seafloor depth: -1837.163191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.031294 meters # Minimum depth: 1857.200017 meters looking forward 0.000000 meters along route # Maximum depth: 1857.200017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.200017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684980; longitude = -122.093974; captureRadius = 10; duration = 150; initialDepth = 1826.129827; finalDepth = 1807.200017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.200017 # Seafloor depth: -1857.200017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.031534 meters # Minimum depth: 1876.129827 meters looking forward 0.000000 meters along route # Maximum depth: 1876.129827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.129827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684619; longitude = -122.094684; captureRadius = 10; duration = 150; initialDepth = 1837.306830; finalDepth = 1826.129827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1826.129827 # Seafloor depth: -1876.129827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.031774 meters # Minimum depth: 1887.306830 meters looking forward 0.000000 meters along route # Maximum depth: 1887.306830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.306830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684259; longitude = -122.095395; captureRadius = 10; duration = 150; initialDepth = 1852.071743; finalDepth = 1837.306830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1837.30683 # Seafloor depth: -1887.306830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.032014 meters # Minimum depth: 1902.071743 meters looking forward 0.000000 meters along route # Maximum depth: 1902.071743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.071743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683898; longitude = -122.096105; captureRadius = 10; duration = 150; initialDepth = 1852.441132; finalDepth = 1852.071743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1852.071743 # Seafloor depth: -1902.071743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.032253 meters # Minimum depth: 1902.441132 meters looking forward 0.000000 meters along route # Maximum depth: 1902.441132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.441132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683538; longitude = -122.096816; captureRadius = 10; duration = 150; initialDepth = 1854.809027; finalDepth = 1852.441132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1852.441132 # Seafloor depth: -1902.441132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.046766 meters # Minimum depth: 1904.809027 meters looking forward 0.000000 meters along route # Maximum depth: 1904.809027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.809027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683177; longitude = -122.097526; captureRadius = 10; duration = 150; initialDepth = 1859.600818; finalDepth = 1854.809027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.809027 # Seafloor depth: -1904.809027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.018462 meters # Minimum depth: 1909.600818 meters looking forward 0.000000 meters along route # Maximum depth: 1909.600818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.600818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682817; longitude = -122.098237; captureRadius = 10; duration = 150; initialDepth = 1877.374183; finalDepth = 1859.600818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1859.600818 # Seafloor depth: -1909.600818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.032973 meters # Minimum depth: 1927.374183 meters looking forward 0.000000 meters along route # Maximum depth: 1927.374183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.374183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682456; longitude = -122.098947; captureRadius = 10; duration = 150; initialDepth = 1895.051980; finalDepth = 1877.374183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1877.374183 # Seafloor depth: -1927.374183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.033214 meters # Minimum depth: 1945.051980 meters looking forward 0.000000 meters along route # Maximum depth: 1945.051980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.051980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682096; longitude = -122.099657; captureRadius = 10; duration = 150; initialDepth = 1903.166228; finalDepth = 1895.051980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1895.05198 # Seafloor depth: -1945.051980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.033454 meters # Minimum depth: 1953.166228 meters looking forward 0.000000 meters along route # Maximum depth: 1953.166228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.166228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681735; longitude = -122.100368; captureRadius = 10; duration = 150; initialDepth = 1908.730844; finalDepth = 1903.166228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1903.166228 # Seafloor depth: -1953.166228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.033694 meters # Minimum depth: 1958.730844 meters looking forward 0.000000 meters along route # Maximum depth: 1958.730844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.730844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681374; longitude = -122.101078; captureRadius = 10; duration = 150; initialDepth = 1910.127192; finalDepth = 1908.730844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1908.730844 # Seafloor depth: -1958.730844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.033933 meters # Minimum depth: 1960.127192 meters looking forward 0.000000 meters along route # Maximum depth: 1960.127192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.127192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681014; longitude = -122.101789; captureRadius = 10; duration = 150; initialDepth = 1910.343620; finalDepth = 1910.127192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1910.127192 # Seafloor depth: -1960.127192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.034174 meters # Minimum depth: 1960.343620 meters looking forward 0.000000 meters along route # Maximum depth: 1960.343620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.343620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680653; longitude = -122.102499; captureRadius = 10; duration = 150; initialDepth = 1910.185762; finalDepth = 1910.343620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1910.34362 # Seafloor depth: -1960.343620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.034414 meters # Minimum depth: 1960.185762 meters looking forward 0.000000 meters along route # Maximum depth: 1960.185762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.185762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680293; longitude = -122.103210; captureRadius = 10; duration = 150; initialDepth = 1908.129124; finalDepth = 1910.185762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1910.185762 # Seafloor depth: -1960.185762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.034654 meters # Minimum depth: 1958.129124 meters looking forward 0.000000 meters along route # Maximum depth: 1958.129124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.129124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679932; longitude = -122.103920; captureRadius = 10; duration = 150; initialDepth = 1900.414657; finalDepth = 1908.129124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1908.129124 # Seafloor depth: -1958.129124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.034894 meters # Minimum depth: 1950.414657 meters looking forward 0.000000 meters along route # Maximum depth: 1950.414657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.414657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679572; longitude = -122.104631; captureRadius = 10; duration = 150; initialDepth = 1878.132569; finalDepth = 1900.414657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1900.414657 # Seafloor depth: -1950.414657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.035134 meters # Minimum depth: 1928.132569 meters looking forward 0.000000 meters along route # Maximum depth: 1928.132569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.132569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679211; longitude = -122.105341; captureRadius = 10; duration = 150; initialDepth = 1854.578368; finalDepth = 1878.132569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1878.132569 # Seafloor depth: -1928.132569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.035374 meters # Minimum depth: 1904.578368 meters looking forward 0.000000 meters along route # Maximum depth: 1904.578368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.578368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678850; longitude = -122.106052; captureRadius = 10; duration = 150; initialDepth = 1889.567937; finalDepth = 1854.578368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1854.578368 # Seafloor depth: -1904.578368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.035614 meters # Minimum depth: 1940.893008 meters looking forward 0.000000 meters along route # Maximum depth: 1940.893008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.567937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678490; longitude = -122.106762; captureRadius = 10; duration = 150; initialDepth = 1924.557618; finalDepth = 1889.567937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.325071151206 # Actual altitude: 51.325071151206 # Commanded vehicle depth: 1889.56793684879 # Seafloor depth: -1940.893008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.035854 meters # Minimum depth: 1975.315943 meters looking forward 0.000000 meters along route # Maximum depth: 1975.315943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.557618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678129; longitude = -122.107473; captureRadius = 10; duration = 150; initialDepth = 1933.359475; finalDepth = 1924.557618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.325071151206 # Actual altitude: 51.325071151206 # Commanded vehicle depth: 1924.55761761142 # Seafloor depth: -1975.315943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.036094 meters # Minimum depth: 1983.359475 meters looking forward 0.000000 meters along route # Maximum depth: 1983.359475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.359475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677769; longitude = -122.108183; captureRadius = 10; duration = 150; initialDepth = 1907.332980; finalDepth = 1933.359475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7583253885757 # Actual altitude: 50.7583253885757 # Commanded vehicle depth: 1933.359475 # Seafloor depth: -1983.359475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.036334 meters # Minimum depth: 1957.332980 meters looking forward 0.000000 meters along route # Maximum depth: 1957.332980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.332980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677408; longitude = -122.108894; captureRadius = 10; duration = 150; initialDepth = 1919.693859; finalDepth = 1907.332980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1907.33298 # Seafloor depth: -1957.332980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.036575 meters # Minimum depth: 1969.693859 meters looking forward 0.000000 meters along route # Maximum depth: 1969.693859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.693859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677048; longitude = -122.109604; captureRadius = 10; duration = 150; initialDepth = 1915.977882; finalDepth = 1919.693859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1919.693859 # Seafloor depth: -1969.693859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 75.354956 meters # Minimum depth: 1965.977882 meters looking forward 0.000000 meters along route # Maximum depth: 1965.977882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.977882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676687; longitude = -122.110315; captureRadius = 10; duration = 150; initialDepth = 1914.199982; finalDepth = 1915.977882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1915.977882 # Seafloor depth: -1965.977882 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 64.872466 meters # Minimum depth: 1964.199982 meters looking forward 0.000000 meters along route # Maximum depth: 1964.199982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.199982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676325; longitude = -122.111028; captureRadius = 10; duration = 129; # abortOnTimeout = True; initialDepth = 1904.820216; finalDepth = 1914.199982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1914.199982 # Seafloor depth: -1964.199982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 77.103542 meters # Minimum depth: 1954.820216 meters looking forward 0.000000 meters along route # Maximum depth: 1954.820216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.820216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676867; longitude = -122.111299; captureRadius = 10; duration = 154; initialDepth = 1892.703735; finalDepth = 1904.820216; 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: 1904.820216 # Seafloor depth: -1954.820216 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 77.744681 meters # Minimum depth: 1942.703735 meters looking forward 0.000000 meters along route # Maximum depth: 1942.703735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.703735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677512; longitude = -122.111622; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 1883.129394; finalDepth = 1892.703735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1892.703735 # Seafloor depth: -1942.703735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 83.464662 meters # Minimum depth: 1933.129394 meters looking forward 0.000000 meters along route # Maximum depth: 1933.129394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.129394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677893; longitude = -122.110892; captureRadius = 10; duration = 166; initialDepth = 1886.178112; finalDepth = 1883.129394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1883.129394 # Seafloor depth: -1933.129394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.111356 meters # Minimum depth: 1936.178112 meters looking forward 0.000000 meters along route # Maximum depth: 1936.178112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.178112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678302; longitude = -122.110108; captureRadius = 10; duration = 150; initialDepth = 1890.962219; finalDepth = 1886.178112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1886.178112 # Seafloor depth: -1936.178112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.893655 meters # Minimum depth: 1940.962219 meters looking forward 0.000000 meters along route # Maximum depth: 1940.962219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.962219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678670; longitude = -122.109402; captureRadius = 10; duration = 159; initialDepth = 1915.205516; finalDepth = 1890.962219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1890.962219 # Seafloor depth: -1940.962219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.463811 meters # Minimum depth: 1965.205516 meters looking forward 0.000000 meters along route # Maximum depth: 1965.205516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.205516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679062; longitude = -122.108652; captureRadius = 10; duration = 166; initialDepth = 1911.178920; finalDepth = 1915.205516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1915.205516 # Seafloor depth: -1965.205516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.745571 meters # Minimum depth: 1961.178920 meters looking forward 0.000000 meters along route # Maximum depth: 1961.178920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.178920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679471; longitude = -122.107868; captureRadius = 10; duration = 151; initialDepth = 1883.075480; finalDepth = 1911.178920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1911.17892 # Seafloor depth: -1961.178920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.257858 meters # Minimum depth: 1933.075480 meters looking forward 0.000000 meters along route # Maximum depth: 1933.075480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.075480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679842; longitude = -122.107157; captureRadius = 10; duration = 158; initialDepth = 1871.538984; finalDepth = 1883.075480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1883.07548 # Seafloor depth: -1933.075480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.462959 meters # Minimum depth: 1921.538984 meters looking forward 0.000000 meters along route # Maximum depth: 1921.538984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.538984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680230; longitude = -122.106412; captureRadius = 10; duration = 166; initialDepth = 1887.097404; finalDepth = 1871.538984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1871.538984 # Seafloor depth: -1921.538984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 76.379773 meters # Minimum depth: 1937.097404 meters looking forward 0.000000 meters along route # Maximum depth: 1937.097404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.097404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680639; longitude = -122.105628; captureRadius = 10; duration = 152; initialDepth = 1899.363609; finalDepth = 1887.097404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1887.097404 # Seafloor depth: -1937.097404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 78.622074 meters # Minimum depth: 1949.363609 meters looking forward 0.000000 meters along route # Maximum depth: 1949.363609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.363609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681014; longitude = -122.104911; captureRadius = 10; duration = 157; initialDepth = 1907.760650; finalDepth = 1899.363609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1899.363609 # Seafloor depth: -1949.363609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 86.907671 meters # Minimum depth: 1957.760650 meters looking forward 0.000000 meters along route # Maximum depth: 1957.760650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.760650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681399; longitude = -122.104172; captureRadius = 10; duration = 173; initialDepth = 1906.411851; finalDepth = 1907.760650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1907.76065 # Seafloor depth: -1957.760650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 80.016245 meters # Minimum depth: 1956.411851 meters looking forward 0.000000 meters along route # Maximum depth: 1956.411851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.411851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681825; longitude = -122.103356; captureRadius = 10; duration = 160; initialDepth = 1904.401474; finalDepth = 1906.411851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1906.411851 # Seafloor depth: -1956.411851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.461511 meters # Minimum depth: 1954.401474 meters looking forward 0.000000 meters along route # Maximum depth: 1954.401474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.401474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682217; longitude = -122.102604; captureRadius = 10; duration = 166; initialDepth = 1904.480762; finalDepth = 1904.401474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1904.401474 # Seafloor depth: -1954.401474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.618694 meters # Minimum depth: 1954.480762 meters looking forward 0.000000 meters along route # Maximum depth: 1954.480762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.480762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682626; longitude = -122.101820; captureRadius = 10; duration = 151; initialDepth = 1901.051208; finalDepth = 1904.480762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1904.480762 # Seafloor depth: -1954.480762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 79.380463 meters # Minimum depth: 1951.051208 meters looking forward 0.000000 meters along route # Maximum depth: 1951.051208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1901.051208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682997; longitude = -122.101110; captureRadius = 10; duration = 158; initialDepth = 1892.835607; finalDepth = 1901.051208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1901.051208 # Seafloor depth: -1951.051208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.460659 meters # Minimum depth: 1942.835607 meters looking forward 0.000000 meters along route # Maximum depth: 1942.835607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.835607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683386; longitude = -122.100364; captureRadius = 10; duration = 166; initialDepth = 1882.057913; finalDepth = 1892.835607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1892.835607 # Seafloor depth: -1942.835607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 76.252881 meters # Minimum depth: 1932.057913 meters looking forward 0.000000 meters along route # Maximum depth: 1932.057913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.057913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683795; longitude = -122.099580; captureRadius = 10; duration = 152; initialDepth = 1862.469664; finalDepth = 1882.057913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1882.057913 # Seafloor depth: -1932.057913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 78.744696 meters # Minimum depth: 1912.469664 meters looking forward 0.000000 meters along route # Maximum depth: 1912.469664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.469664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684169; longitude = -122.098864; captureRadius = 10; duration = 157; initialDepth = 1850.855172; finalDepth = 1862.469664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1862.469664 # Seafloor depth: -1912.469664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 86.780488 meters # Minimum depth: 1900.855172 meters looking forward 0.000000 meters along route # Maximum depth: 1900.855172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.855172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684555; longitude = -122.098125; captureRadius = 10; duration = 173; initialDepth = 1844.735767; finalDepth = 1850.855172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1850.855172 # Seafloor depth: -1900.855172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 80.138828 meters # Minimum depth: 1894.735767 meters looking forward 0.000000 meters along route # Maximum depth: 1894.735767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.735767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684980; longitude = -122.097309; captureRadius = 10; duration = 160; initialDepth = 1835.090238; finalDepth = 1844.735767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1844.735767 # Seafloor depth: -1894.735767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 85.385185 meters # Minimum depth: 1885.090238 meters looking forward 0.000000 meters along route # Maximum depth: 1885.090238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.090238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685373; longitude = -122.096557; captureRadius = 10; duration = 170; initialDepth = 1823.283793; finalDepth = 1835.090238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1835.090238 # Seafloor depth: -1885.090238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 81.532940 meters # Minimum depth: 1873.283793 meters looking forward 0.000000 meters along route # Maximum depth: 1873.283793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.283793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685791; longitude = -122.095755; captureRadius = 10; duration = 163; initialDepth = 1807.978613; finalDepth = 1823.283793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.283793 # Seafloor depth: -1873.283793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.989899 meters # Minimum depth: 1857.978613 meters looking forward 0.000000 meters along route # Maximum depth: 1857.978613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.978613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686191; longitude = -122.094989; captureRadius = 10; duration = 167; initialDepth = 1794.225344; finalDepth = 1807.978613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.978613 # Seafloor depth: -1857.978613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 82.927034 meters # Minimum depth: 1844.225344 meters looking forward 0.000000 meters along route # Maximum depth: 1844.225344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.225344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686603; longitude = -122.094200; captureRadius = 10; duration = 165; initialDepth = 1775.686898; finalDepth = 1794.225344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1794.225344 # Seafloor depth: -1844.225344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.458019 meters # Minimum depth: 1825.686898 meters looking forward 0.000000 meters along route # Maximum depth: 1825.686898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.686898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687009; longitude = -122.093421; captureRadius = 10; duration = 166; initialDepth = 1746.650653; finalDepth = 1775.686898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.686898 # Seafloor depth: -1825.686898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 83.457721 meters # Minimum depth: 1796.650653 meters looking forward 0.000000 meters along route # Maximum depth: 1796.650653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.650653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687418; longitude = -122.092637; captureRadius = 10; duration = 166; initialDepth = 1716.510443; finalDepth = 1746.650653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.650653 # Seafloor depth: -1796.650653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 75.477575 meters # Minimum depth: 1766.510443 meters looking forward 0.000000 meters along route # Maximum depth: 1766.510443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.510443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687827; longitude = -122.091853; captureRadius = 10; duration = 150; initialDepth = 1671.826202; finalDepth = 1716.510443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.510443 # Seafloor depth: -1766.510443 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 100.384769 meters # Minimum depth: 1721.826202 meters looking forward 0.000000 meters along route # Maximum depth: 1721.826202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.826202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688197; longitude = -122.091144; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1684.408438; finalDepth = 1671.826202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1671.826202 # Seafloor depth: -1721.826202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 76.988438 meters # Minimum depth: 1734.408438 meters looking forward 0.000000 meters along route # Maximum depth: 1734.408438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.408438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689036; longitude = -122.091564; captureRadius = 10; duration = 153; initialDepth = 1679.214874; finalDepth = 1684.408438; 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: 1684.408438 # Seafloor depth: -1734.408438 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 80.289358 meters # Minimum depth: 1729.214874 meters looking forward 0.000000 meters along route # Maximum depth: 1729.214874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.214874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689680; longitude = -122.091886; captureRadius = 10; duration = 160; # abortOnTimeout = True; initialDepth = 1696.440144; finalDepth = 1679.214874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1679.214874 # Seafloor depth: -1729.214874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 86.121562 meters # Minimum depth: 1746.440144 meters looking forward 0.000000 meters along route # Maximum depth: 1746.440144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.440144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689282; longitude = -122.092637; captureRadius = 10; duration = 172; initialDepth = 1710.687545; finalDepth = 1696.440144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1696.440144 # Seafloor depth: -1746.440144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 81.516379 meters # Minimum depth: 1760.687545 meters looking forward 0.000000 meters along route # Maximum depth: 1760.687545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.687545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688856; longitude = -122.093442; captureRadius = 10; duration = 163; initialDepth = 1738.095864; finalDepth = 1710.687545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1710.687545 # Seafloor depth: -1760.687545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 83.819423 meters # Minimum depth: 1788.095864 meters looking forward 0.000000 meters along route # Maximum depth: 1788.095864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.095864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688452; longitude = -122.094205; captureRadius = 10; duration = 167; initialDepth = 1769.160288; finalDepth = 1738.095864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.095864 # Seafloor depth: -1788.095864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 83.819723 meters # Minimum depth: 1819.160288 meters looking forward 0.000000 meters along route # Maximum depth: 1819.160288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.160288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688037; longitude = -122.094989; captureRadius = 10; duration = 167; initialDepth = 1783.761187; finalDepth = 1769.160288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.160288 # Seafloor depth: -1819.160288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 78.535373 meters # Minimum depth: 1833.761187 meters looking forward 0.000000 meters along route # Maximum depth: 1833.761187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.761187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687622; longitude = -122.095773; captureRadius = 10; duration = 157; initialDepth = 1786.466534; finalDepth = 1783.761187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1783.761187 # Seafloor depth: -1833.761187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 77.130627 meters # Minimum depth: 1836.466534 meters looking forward 0.000000 meters along route # Maximum depth: 1836.466534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.466534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687234; longitude = -122.096507; captureRadius = 10; duration = 154; initialDepth = 1812.137941; finalDepth = 1786.466534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1786.466534 # Seafloor depth: -1836.466534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 83.820584 meters # Minimum depth: 1862.137941 meters looking forward 0.000000 meters along route # Maximum depth: 1862.137941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.137941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686852; longitude = -122.097229; captureRadius = 10; duration = 167; initialDepth = 1827.566421; finalDepth = 1812.137941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.137941 # Seafloor depth: -1862.137941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 75.717299 meters # Minimum depth: 1877.566421 meters looking forward 0.000000 meters along route # Maximum depth: 1877.566421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.566421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686437; longitude = -122.098013; captureRadius = 10; duration = 151; initialDepth = 1839.733797; finalDepth = 1827.566421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1827.566421 # Seafloor depth: -1877.566421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 79.950299 meters # Minimum depth: 1889.733797 meters looking forward 0.000000 meters along route # Maximum depth: 1889.733797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.733797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686062; longitude = -122.098721; captureRadius = 10; duration = 159; initialDepth = 1855.167608; finalDepth = 1839.733797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.733797 # Seafloor depth: -1889.733797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 83.898538 meters # Minimum depth: 1905.167608 meters looking forward 0.000000 meters along route # Maximum depth: 1905.167608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.167608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685666; longitude = -122.099469; captureRadius = 10; duration = 167; initialDepth = 1876.768900; finalDepth = 1855.167608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1855.167608 # Seafloor depth: -1905.167608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 83.744652 meters # Minimum depth: 1926.768900 meters looking forward 0.000000 meters along route # Maximum depth: 1926.768900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.768900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685250; longitude = -122.100253; captureRadius = 10; duration = 167; initialDepth = 1886.204086; finalDepth = 1876.768900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.7689 # Seafloor depth: -1926.768900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 80.105335 meters # Minimum depth: 1936.204086 meters looking forward 0.000000 meters along route # Maximum depth: 1936.204086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.204086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684836; longitude = -122.101036; captureRadius = 10; duration = 160; initialDepth = 1895.207642; finalDepth = 1886.204086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1886.204086 # Seafloor depth: -1936.204086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 75.564420 meters # Minimum depth: 1945.207642 meters looking forward 0.000000 meters along route # Maximum depth: 1945.207642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.207642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684439; longitude = -122.101786; captureRadius = 10; duration = 151; initialDepth = 1898.920636; finalDepth = 1895.207642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1895.207642 # Seafloor depth: -1945.207642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 83.822606 meters # Minimum depth: 1948.920636 meters looking forward 0.000000 meters along route # Maximum depth: 1948.920636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.920636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684065; longitude = -122.102492; captureRadius = 10; duration = 167; initialDepth = 1899.759544; finalDepth = 1898.920636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1898.920636 # Seafloor depth: -1948.920636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 77.287210 meters # Minimum depth: 1949.759544 meters looking forward 0.000000 meters along route # Maximum depth: 1949.759544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.759544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683650; longitude = -122.103276; captureRadius = 10; duration = 154; initialDepth = 1900.241587; finalDepth = 1899.759544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1899.759544 # Seafloor depth: -1949.759544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 78.384143 meters # Minimum depth: 1950.241587 meters looking forward 0.000000 meters along route # Maximum depth: 1950.241587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.241587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683267; longitude = -122.103999; captureRadius = 10; duration = 156; initialDepth = 1901.368529; finalDepth = 1900.241587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1900.241587 # Seafloor depth: -1950.241587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 85.468658 meters # Minimum depth: 1951.368529 meters looking forward 0.000000 meters along route # Maximum depth: 1951.368529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1901.368529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682879; longitude = -122.104732; captureRadius = 10; duration = 170; initialDepth = 1905.650173; finalDepth = 1901.368529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1901.368529 # Seafloor depth: -1951.368529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 82.178577 meters # Minimum depth: 1955.650173 meters looking forward 0.000000 meters along route # Maximum depth: 1955.650173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.650173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682456; longitude = -122.105532; captureRadius = 10; duration = 164; initialDepth = 1888.799674; finalDepth = 1905.650173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1905.650173 # Seafloor depth: -1955.650173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 77.192470 meters # Minimum depth: 1938.799674 meters looking forward 0.000000 meters along route # Maximum depth: 1938.799674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.799674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682049; longitude = -122.106300; captureRadius = 10; duration = 154; initialDepth = 1867.299988; finalDepth = 1888.799674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1888.799674 # Seafloor depth: -1938.799674 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 62.019756 meters # Minimum depth: 1917.299988 meters looking forward 0.000000 meters along route # Maximum depth: 1917.299988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.299988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681667; longitude = -122.107022; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 1861.983967; finalDepth = 1867.299988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1867.299988 # Seafloor depth: -1917.299988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 79.921709 meters # Minimum depth: 1911.983967 meters looking forward 0.000000 meters along route # Maximum depth: 1911.983967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.983967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682186; longitude = -122.107281; captureRadius = 10; duration = 159; initialDepth = 1883.441132; finalDepth = 1861.983967; 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: 1861.983967 # Seafloor depth: -1911.983967 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 83.473780 meters # Minimum depth: 1933.441132 meters looking forward 0.000000 meters along route # Maximum depth: 1933.441132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.441132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682854; longitude = -122.107615; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 1897.918207; finalDepth = 1883.441132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1883.441132 # Seafloor depth: -1933.441132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 81.079212 meters # Minimum depth: 1947.918207 meters looking forward 0.000000 meters along route # Maximum depth: 1947.918207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.918207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683267; longitude = -122.106834; captureRadius = 10; duration = 162; initialDepth = 1898.917686; finalDepth = 1897.918207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1897.918207 # Seafloor depth: -1947.918207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 83.825707 meters # Minimum depth: 1948.917686 meters looking forward 0.000000 meters along route # Maximum depth: 1948.917686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.917686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683669; longitude = -122.106076; captureRadius = 10; duration = 167; initialDepth = 1898.964822; finalDepth = 1898.917686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1898.917686 # Seafloor depth: -1948.917686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 83.825405 meters # Minimum depth: 1948.964822 meters looking forward 0.000000 meters along route # Maximum depth: 1948.964822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.964822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684084; longitude = -122.105292; captureRadius = 10; duration = 167; initialDepth = 1896.076723; finalDepth = 1898.964822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1898.964822 # Seafloor depth: -1948.964822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 78.943107 meters # Minimum depth: 1946.076723 meters looking forward 0.000000 meters along route # Maximum depth: 1946.076723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1896.076723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684499; longitude = -122.104508; captureRadius = 10; duration = 157; initialDepth = 1894.827167; finalDepth = 1896.076723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1896.076723 # Seafloor depth: -1946.076723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 76.731847 meters # Minimum depth: 1944.827167 meters looking forward 0.000000 meters along route # Maximum depth: 1944.827167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1894.827167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684890; longitude = -122.103770; captureRadius = 10; duration = 153; initialDepth = 1890.118027; finalDepth = 1894.827167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1894.827167 # Seafloor depth: -1944.827167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 83.824545 meters # Minimum depth: 1940.118027 meters looking forward 0.000000 meters along route # Maximum depth: 1940.118027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.118027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685270; longitude = -122.103052; captureRadius = 10; duration = 167; initialDepth = 1889.895569; finalDepth = 1890.118027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1890.118027 # Seafloor depth: -1940.118027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 76.093779 meters # Minimum depth: 1939.895569 meters looking forward 0.000000 meters along route # Maximum depth: 1939.895569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.895569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685685; longitude = -122.102268; captureRadius = 10; duration = 152; initialDepth = 1880.291791; finalDepth = 1889.895569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.895569 # Seafloor depth: -1939.895569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 79.579576 meters # Minimum depth: 1930.291791 meters looking forward 0.000000 meters along route # Maximum depth: 1930.291791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.291791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686062; longitude = -122.101557; captureRadius = 10; duration = 159; initialDepth = 1871.967580; finalDepth = 1880.291791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1880.291791 # Seafloor depth: -1930.291791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 84.253751 meters # Minimum depth: 1921.967580 meters looking forward 0.000000 meters along route # Maximum depth: 1921.967580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.967580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686456; longitude = -122.100812; captureRadius = 10; duration = 168; initialDepth = 1858.286259; finalDepth = 1871.967580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1871.96758 # Seafloor depth: -1921.967580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 83.393316 meters # Minimum depth: 1908.286259 meters looking forward 0.000000 meters along route # Maximum depth: 1908.286259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.286259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686873; longitude = -122.100024; captureRadius = 10; duration = 166; initialDepth = 1846.399191; finalDepth = 1858.286259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1858.286259 # Seafloor depth: -1908.286259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 80.438861 meters # Minimum depth: 1896.399191 meters looking forward 0.000000 meters along route # Maximum depth: 1896.399191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.399191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687286; longitude = -122.099245; captureRadius = 10; duration = 160; initialDepth = 1837.243624; finalDepth = 1846.399191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1846.399191 # Seafloor depth: -1896.399191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 75.232337 meters # Minimum depth: 1887.243624 meters looking forward 0.000000 meters along route # Maximum depth: 1887.243624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.243624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687684; longitude = -122.098492; captureRadius = 10; duration = 150; initialDepth = 1830.033166; finalDepth = 1837.243624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1837.243624 # Seafloor depth: -1887.243624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 83.822522 meters # Minimum depth: 1880.033166 meters looking forward 0.000000 meters along route # Maximum depth: 1880.033166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.033166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688057; longitude = -122.097789; captureRadius = 10; duration = 167; initialDepth = 1819.522211; finalDepth = 1830.033166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1830.033166 # Seafloor depth: -1880.033166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 77.589587 meters # Minimum depth: 1869.522211 meters looking forward 0.000000 meters along route # Maximum depth: 1869.522211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.522211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688472; longitude = -122.097005; captureRadius = 10; duration = 155; initialDepth = 1806.037024; finalDepth = 1819.522211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1819.522211 # Seafloor depth: -1869.522211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 78.080013 meters # Minimum depth: 1856.037024 meters looking forward 0.000000 meters along route # Maximum depth: 1856.037024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.037024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688856; longitude = -122.096279; captureRadius = 10; duration = 156; initialDepth = 1792.223247; finalDepth = 1806.037024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.037024 # Seafloor depth: -1856.037024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 85.749351 meters # Minimum depth: 1842.223247 meters looking forward 0.000000 meters along route # Maximum depth: 1842.223247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.223247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689243; longitude = -122.095549; captureRadius = 10; duration = 171; initialDepth = 1775.044509; finalDepth = 1792.223247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.223247 # Seafloor depth: -1842.223247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 81.893671 meters # Minimum depth: 1825.044509 meters looking forward 0.000000 meters along route # Maximum depth: 1825.044509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.044509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689667; longitude = -122.094747; captureRadius = 10; duration = 163; initialDepth = 1762.097557; finalDepth = 1775.044509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.044509 # Seafloor depth: -1825.044509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 83.821060 meters # Minimum depth: 1812.097557 meters looking forward 0.000000 meters along route # Maximum depth: 1812.097557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.097557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690073; longitude = -122.093981; captureRadius = 10; duration = 167; initialDepth = 1739.699799; finalDepth = 1762.097557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.097557 # Seafloor depth: -1812.097557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 76.759296 meters # Minimum depth: 1789.699799 meters looking forward 0.000000 meters along route # Maximum depth: 1789.699799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.699799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690488; longitude = -122.093197; captureRadius = 10; duration = 153; initialDepth = 1705.267517; finalDepth = 1739.699799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.699799 # Seafloor depth: -1789.699799 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 93.566192 meters # Minimum depth: 1755.267517 meters looking forward 0.000000 meters along route # Maximum depth: 1755.267517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.267517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690868; longitude = -122.092479; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 1695.717672; finalDepth = 1705.267517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1705.267517 # Seafloor depth: -1755.267517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 83.909086 meters # Minimum depth: 1745.717672 meters looking forward 0.000000 meters along route # Maximum depth: 1745.717672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.717672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691650; longitude = -122.092870; captureRadius = 10; duration = 167; initialDepth = 1682.747253; finalDepth = 1695.717672; 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: 1695.717672 # Seafloor depth: -1745.717672 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 93.458763 meters # Minimum depth: 1732.747253 meters looking forward 0.000000 meters along route # Maximum depth: 1732.747253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.747253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692352; longitude = -122.093221; captureRadius = 10; duration = 186; # abortOnTimeout = True; initialDepth = 1704.733951; finalDepth = 1682.747253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1682.747253 # Seafloor depth: -1732.747253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 84.036653 meters # Minimum depth: 1754.733951 meters looking forward 0.000000 meters along route # Maximum depth: 1754.733951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.733951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691886; longitude = -122.094093; captureRadius = 10; duration = 168; initialDepth = 1731.382877; finalDepth = 1704.733951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1704.733951 # Seafloor depth: -1754.733951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.036956 meters # Minimum depth: 1781.382877 meters looking forward 0.000000 meters along route # Maximum depth: 1781.382877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.382877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691468; longitude = -122.094877; captureRadius = 10; duration = 168; initialDepth = 1758.051730; finalDepth = 1731.382877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1731.382877 # Seafloor depth: -1781.382877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 78.366734 meters # Minimum depth: 1808.051730 meters looking forward 0.000000 meters along route # Maximum depth: 1808.051730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.051730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691049; longitude = -122.095661; captureRadius = 10; duration = 156; initialDepth = 1771.432621; finalDepth = 1758.051730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1758.05173 # Seafloor depth: -1808.051730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 77.702702 meters # Minimum depth: 1821.432621 meters looking forward 0.000000 meters along route # Maximum depth: 1821.432621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.432621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690659; longitude = -122.096392; captureRadius = 10; duration = 155; initialDepth = 1784.441620; finalDepth = 1771.432621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1771.432621 # Seafloor depth: -1821.432621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 85.157854 meters # Minimum depth: 1834.441620 meters looking forward 0.000000 meters along route # Maximum depth: 1834.441620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.441620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690272; longitude = -122.097117; captureRadius = 10; duration = 170; initialDepth = 1795.897392; finalDepth = 1784.441620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.44162 # Seafloor depth: -1834.441620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 82.918092 meters # Minimum depth: 1845.897392 meters looking forward 0.000000 meters along route # Maximum depth: 1845.897392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.897392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689848; longitude = -122.097911; captureRadius = 10; duration = 165; initialDepth = 1812.340365; finalDepth = 1795.897392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.897392 # Seafloor depth: -1845.897392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 79.943603 meters # Minimum depth: 1862.340365 meters looking forward 0.000000 meters along route # Maximum depth: 1862.340365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.340365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689435; longitude = -122.098685; captureRadius = 10; duration = 159; initialDepth = 1826.464271; finalDepth = 1812.340365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.340365 # Seafloor depth: -1862.340365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 76.128003 meters # Minimum depth: 1876.464271 meters looking forward 0.000000 meters along route # Maximum depth: 1876.464271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.464271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689036; longitude = -122.099430; captureRadius = 10; duration = 152; initialDepth = 1839.539460; finalDepth = 1826.464271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1826.464271 # Seafloor depth: -1876.464271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 86.734829 meters # Minimum depth: 1889.539460 meters looking forward 0.000000 meters along route # Maximum depth: 1889.539460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.539460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688657; longitude = -122.100140; captureRadius = 10; duration = 173; initialDepth = 1855.990187; finalDepth = 1839.539460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1839.53946 # Seafloor depth: -1889.539460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 81.343455 meters # Minimum depth: 1905.990187 meters looking forward 0.000000 meters along route # Maximum depth: 1905.990187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.990187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688225; longitude = -122.100950; captureRadius = 10; duration = 162; initialDepth = 1866.983896; finalDepth = 1855.990187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1855.990187 # Seafloor depth: -1905.990187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.039596 meters # Minimum depth: 1916.983896 meters looking forward 0.000000 meters along route # Maximum depth: 1916.983896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.983896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687820; longitude = -122.101708; captureRadius = 10; duration = 168; initialDepth = 1876.619156; finalDepth = 1866.983896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1866.983896 # Seafloor depth: -1916.983896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.039899 meters # Minimum depth: 1926.619156 meters looking forward 0.000000 meters along route # Maximum depth: 1926.619156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.619156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687401; longitude = -122.102492; captureRadius = 10; duration = 168; initialDepth = 1883.817307; finalDepth = 1876.619156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.619156 # Seafloor depth: -1926.619156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 76.306129 meters # Minimum depth: 1933.817307 meters looking forward 0.000000 meters along route # Maximum depth: 1933.817307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.817307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686983; longitude = -122.103276; captureRadius = 10; duration = 152; initialDepth = 1885.703894; finalDepth = 1883.817307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1883.817307 # Seafloor depth: -1933.817307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 79.768774 meters # Minimum depth: 1935.703894 meters looking forward 0.000000 meters along route # Maximum depth: 1935.703894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.703894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686603; longitude = -122.103988; captureRadius = 10; duration = 159; initialDepth = 1889.671718; finalDepth = 1885.703894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1885.703894 # Seafloor depth: -1935.703894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.040765 meters # Minimum depth: 1939.671718 meters looking forward 0.000000 meters along route # Maximum depth: 1939.671718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.671718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686205; longitude = -122.104732; captureRadius = 10; duration = 168; initialDepth = 1892.281864; finalDepth = 1889.671718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.671718 # Seafloor depth: -1939.671718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 84.041069 meters # Minimum depth: 1942.281864 meters looking forward 0.000000 meters along route # Maximum depth: 1942.281864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.281864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685787; longitude = -122.105516; captureRadius = 10; duration = 168; initialDepth = 1893.531418; finalDepth = 1892.281864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1892.281864 # Seafloor depth: -1942.281864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 77.883023 meters # Minimum depth: 1943.531418 meters looking forward 0.000000 meters along route # Maximum depth: 1943.531418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.531418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685368; longitude = -122.106300; captureRadius = 10; duration = 155; initialDepth = 1895.198578; finalDepth = 1893.531418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1893.531418 # Seafloor depth: -1943.531418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 78.194050 meters # Minimum depth: 1945.198578 meters looking forward 0.000000 meters along route # Maximum depth: 1945.198578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.198578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684980; longitude = -122.107027; captureRadius = 10; duration = 156; initialDepth = 1893.166056; finalDepth = 1895.198578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1895.198578 # Seafloor depth: -1945.198578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 80.404744 meters # Minimum depth: 1943.166056 meters looking forward 0.000000 meters along route # Maximum depth: 1943.166056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.166056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684591; longitude = -122.107756; captureRadius = 10; duration = 160; initialDepth = 1889.465454; finalDepth = 1893.166056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1893.166056 # Seafloor depth: -1943.166056 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 70.030928 meters # Minimum depth: 1939.465454 meters looking forward 0.000000 meters along route # Maximum depth: 1939.465454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.465454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684190; longitude = -122.108506; captureRadius = 10; duration = 140; # abortOnTimeout = True; initialDepth = 1882.855353; finalDepth = 1889.465454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.465454 # Seafloor depth: -1939.465454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 83.420171 meters # Minimum depth: 1932.855353 meters looking forward 0.000000 meters along route # Maximum depth: 1932.855353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.855353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684800; longitude = -122.108709; captureRadius = 10; duration = 166; initialDepth = 1880.346832; finalDepth = 1882.855353; 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: 1882.855353 # Seafloor depth: -1932.855353 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 104.092977 meters # Minimum depth: 1930.346832 meters looking forward 0.000000 meters along route # Maximum depth: 1930.346832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.346832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685526; longitude = -122.108951; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 1889.955302; finalDepth = 1880.346832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1880.346832 # Seafloor depth: -1930.346832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.848424 meters # Minimum depth: 1939.955302 meters looking forward 0.000000 meters along route # Maximum depth: 1939.955302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.955302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686044; longitude = -122.107980; captureRadius = 10; duration = 151; initialDepth = 1889.180010; finalDepth = 1889.955302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.955302 # Seafloor depth: -1939.955302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 80.220775 meters # Minimum depth: 1939.180010 meters looking forward 0.000000 meters along route # Maximum depth: 1939.180010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.180010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686422; longitude = -122.107272; captureRadius = 10; duration = 160; initialDepth = 1890.291739; finalDepth = 1889.180010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1889.18001 # Seafloor depth: -1939.180010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.036828 meters # Minimum depth: 1940.291739 meters looking forward 0.000000 meters along route # Maximum depth: 1940.291739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.291739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686822; longitude = -122.106524; captureRadius = 10; duration = 168; initialDepth = 1885.911920; finalDepth = 1890.291739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1890.291739 # Seafloor depth: -1940.291739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.036525 meters # Minimum depth: 1935.911920 meters looking forward 0.000000 meters along route # Maximum depth: 1935.911920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.911920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687240; longitude = -122.105740; captureRadius = 10; duration = 168; initialDepth = 1882.860066; finalDepth = 1885.911920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1885.91192 # Seafloor depth: -1935.911920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 77.463014 meters # Minimum depth: 1932.860066 meters looking forward 0.000000 meters along route # Maximum depth: 1932.860066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.860066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687659; longitude = -122.104956; captureRadius = 10; duration = 154; initialDepth = 1881.039189; finalDepth = 1882.860066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1882.860066 # Seafloor depth: -1932.860066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 78.604014 meters # Minimum depth: 1931.039189 meters looking forward 0.000000 meters along route # Maximum depth: 1931.039189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.039189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688045; longitude = -122.104234; captureRadius = 10; duration = 157; initialDepth = 1876.762440; finalDepth = 1881.039189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1881.039189 # Seafloor depth: -1931.039189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.272848 meters # Minimum depth: 1926.762440 meters looking forward 0.000000 meters along route # Maximum depth: 1926.762440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.762440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688436; longitude = -122.103500; captureRadius = 10; duration = 168; initialDepth = 1863.505001; finalDepth = 1876.762440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.76244 # Seafloor depth: -1926.762440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 83.798168 meters # Minimum depth: 1913.505001 meters looking forward 0.000000 meters along route # Maximum depth: 1913.505001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.505001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688856; longitude = -122.102714; captureRadius = 10; duration = 167; initialDepth = 1848.732221; finalDepth = 1863.505001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1863.505001 # Seafloor depth: -1913.505001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 79.077557 meters # Minimum depth: 1898.732221 meters looking forward 0.000000 meters along route # Maximum depth: 1898.732221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.732221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689273; longitude = -122.101932; captureRadius = 10; duration = 158; initialDepth = 1841.523718; finalDepth = 1848.732221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1848.732221 # Seafloor depth: -1898.732221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 76.987300 meters # Minimum depth: 1891.523718 meters looking forward 0.000000 meters along route # Maximum depth: 1891.523718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.523718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689667; longitude = -122.101195; captureRadius = 10; duration = 153; initialDepth = 1835.870146; finalDepth = 1841.523718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.523718 # Seafloor depth: -1891.523718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 85.887287 meters # Minimum depth: 1885.870146 meters looking forward 0.000000 meters along route # Maximum depth: 1885.870146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.870146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690051; longitude = -122.100476; captureRadius = 10; duration = 171; initialDepth = 1825.427836; finalDepth = 1835.870146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1835.870146 # Seafloor depth: -1885.870146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 82.181391 meters # Minimum depth: 1875.427836 meters looking forward 0.000000 meters along route # Maximum depth: 1875.427836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.427836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690479; longitude = -122.099675; captureRadius = 10; duration = 164; initialDepth = 1816.460614; finalDepth = 1825.427836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.427836 # Seafloor depth: -1875.427836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 80.692057 meters # Minimum depth: 1866.460614 meters looking forward 0.000000 meters along route # Maximum depth: 1866.460614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.460614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690888; longitude = -122.098909; captureRadius = 10; duration = 161; initialDepth = 1807.572313; finalDepth = 1816.460614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1816.460614 # Seafloor depth: -1866.460614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 75.370631 meters # Minimum depth: 1857.572313 meters looking forward 0.000000 meters along route # Maximum depth: 1857.572313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.572313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691290; longitude = -122.098156; captureRadius = 10; duration = 150; initialDepth = 1788.415877; finalDepth = 1807.572313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.572313 # Seafloor depth: -1857.572313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.033321 meters # Minimum depth: 1838.415877 meters looking forward 0.000000 meters along route # Maximum depth: 1838.415877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.415877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691665; longitude = -122.097453; captureRadius = 10; duration = 168; initialDepth = 1762.610883; finalDepth = 1788.415877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1788.415877 # Seafloor depth: -1838.415877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 75.855686 meters # Minimum depth: 1812.610883 meters looking forward 0.000000 meters along route # Maximum depth: 1812.610883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.610883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692084; longitude = -122.096669; captureRadius = 10; duration = 151; initialDepth = 1738.401481; finalDepth = 1762.610883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.610883 # Seafloor depth: -1812.610883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 80.205394 meters # Minimum depth: 1788.401481 meters looking forward 0.000000 meters along route # Maximum depth: 1788.401481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.401481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692462; longitude = -122.095961; captureRadius = 10; duration = 160; initialDepth = 1715.448022; finalDepth = 1738.401481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.401481 # Seafloor depth: -1788.401481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 84.032456 meters # Minimum depth: 1765.448022 meters looking forward 0.000000 meters along route # Maximum depth: 1765.448022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.448022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692861; longitude = -122.095213; captureRadius = 10; duration = 168; initialDepth = 1700.620310; finalDepth = 1715.448022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1715.448022 # Seafloor depth: -1765.448022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 81.768037 meters # Minimum depth: 1750.620310 meters looking forward 0.000000 meters along route # Maximum depth: 1750.620310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.620310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693280; longitude = -122.094429; captureRadius = 10; duration = 163; initialDepth = 1701.844879; finalDepth = 1700.620310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.62031 # Seafloor depth: -1750.620310 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 58.284298 meters # Minimum depth: 1751.844879 meters looking forward 0.000000 meters along route # Maximum depth: 1751.844879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.844879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693687; longitude = -122.093666; captureRadius = 10; duration = 116; # abortOnTimeout = True; initialDepth = 1715.894467; finalDepth = 1701.844879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1701.844879 # Seafloor depth: -1751.844879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 83.688037 meters # Minimum depth: 1765.894467 meters looking forward 0.000000 meters along route # Maximum depth: 1765.894467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.894467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694174; longitude = -122.093910; captureRadius = 10; duration = 167; initialDepth = 1738.836639; finalDepth = 1715.894467; 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: 1715.894467 # Seafloor depth: -1765.894467 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 101.515544 meters # Minimum depth: 1788.836639 meters looking forward 0.000000 meters along route # Maximum depth: 1788.836639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.836639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694874; longitude = -122.094260; captureRadius = 10; duration = 203; # abortOnTimeout = True; initialDepth = 1743.966201; finalDepth = 1738.836639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.836639 # Seafloor depth: -1788.836639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 77.631025 meters # Minimum depth: 1793.966201 meters looking forward 0.000000 meters along route # Maximum depth: 1793.966201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.966201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694375; longitude = -122.095213; captureRadius = 10; duration = 155; initialDepth = 1742.524242; finalDepth = 1743.966201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.966201 # Seafloor depth: -1793.966201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.492280 meters # Minimum depth: 1792.524242 meters looking forward 0.000000 meters along route # Maximum depth: 1792.524242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.524242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693994; longitude = -122.095941; captureRadius = 10; duration = 154; initialDepth = 1740.257358; finalDepth = 1742.524242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1742.524242 # Seafloor depth: -1792.524242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.528360 meters # Minimum depth: 1790.257358 meters looking forward 0.000000 meters along route # Maximum depth: 1790.257358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.257358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693613; longitude = -122.096669; captureRadius = 10; duration = 167; initialDepth = 1749.826279; finalDepth = 1740.257358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1740.257358 # Seafloor depth: -1790.257358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.542071 meters # Minimum depth: 1799.826279 meters looking forward 0.000000 meters along route # Maximum depth: 1799.826279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.826279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693203; longitude = -122.097453; captureRadius = 10; duration = 155; initialDepth = 1765.004395; finalDepth = 1749.826279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1749.826279 # Seafloor depth: -1799.826279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.582819 meters # Minimum depth: 1815.004395 meters looking forward 0.000000 meters along route # Maximum depth: 1815.004395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.004395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692822; longitude = -122.098180; captureRadius = 10; duration = 155; initialDepth = 1777.873372; finalDepth = 1765.004395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1765.004395 # Seafloor depth: -1815.004395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.529214 meters # Minimum depth: 1827.873372 meters looking forward 0.000000 meters along route # Maximum depth: 1827.873372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.873372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692441; longitude = -122.098909; captureRadius = 10; duration = 167; initialDepth = 1792.556116; finalDepth = 1777.873372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.873372 # Seafloor depth: -1827.873372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.453115 meters # Minimum depth: 1842.556116 meters looking forward 0.000000 meters along route # Maximum depth: 1842.556116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.556116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692031; longitude = -122.099692; captureRadius = 10; duration = 154; initialDepth = 1811.856944; finalDepth = 1792.556116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.556116 # Seafloor depth: -1842.556116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.673360 meters # Minimum depth: 1861.856944 meters looking forward 0.000000 meters along route # Maximum depth: 1861.856944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.856944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691650; longitude = -122.100419; captureRadius = 10; duration = 155; initialDepth = 1819.459189; finalDepth = 1811.856944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.856944 # Seafloor depth: -1861.856944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.530067 meters # Minimum depth: 1869.459189 meters looking forward 0.000000 meters along route # Maximum depth: 1869.459189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.459189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691269; longitude = -122.101148; captureRadius = 10; duration = 167; initialDepth = 1830.428842; finalDepth = 1819.459189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1819.459189 # Seafloor depth: -1869.459189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.364158 meters # Minimum depth: 1880.428842 meters looking forward 0.000000 meters along route # Maximum depth: 1880.428842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.428842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690859; longitude = -122.101932; captureRadius = 10; duration = 154; initialDepth = 1842.583354; finalDepth = 1830.428842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1830.428842 # Seafloor depth: -1880.428842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.763903 meters # Minimum depth: 1892.583354 meters looking forward 0.000000 meters along route # Maximum depth: 1892.583354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.583354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690479; longitude = -122.102658; captureRadius = 10; duration = 155; initialDepth = 1850.697992; finalDepth = 1842.583354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1842.583354 # Seafloor depth: -1892.583354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.530921 meters # Minimum depth: 1900.697992 meters looking forward 0.000000 meters along route # Maximum depth: 1900.697992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.697992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690097; longitude = -122.103388; captureRadius = 10; duration = 167; initialDepth = 1866.635534; finalDepth = 1850.697992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1850.697992 # Seafloor depth: -1900.697992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.275199 meters # Minimum depth: 1916.635534 meters looking forward 0.000000 meters along route # Maximum depth: 1916.635534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.635534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689686; longitude = -122.104172; captureRadius = 10; duration = 154; initialDepth = 1874.357861; finalDepth = 1866.635534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1866.635534 # Seafloor depth: -1916.635534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.854447 meters # Minimum depth: 1924.357861 meters looking forward 0.000000 meters along route # Maximum depth: 1924.357861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.357861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689307; longitude = -122.104897; captureRadius = 10; duration = 155; initialDepth = 1878.280881; finalDepth = 1874.357861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1874.357861 # Seafloor depth: -1924.357861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.531775 meters # Minimum depth: 1928.280881 meters looking forward 0.000000 meters along route # Maximum depth: 1928.280881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.280881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688924; longitude = -122.105628; captureRadius = 10; duration = 167; initialDepth = 1874.608935; finalDepth = 1878.280881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1878.280881 # Seafloor depth: -1928.280881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.186238 meters # Minimum depth: 1924.608935 meters looking forward 0.000000 meters along route # Maximum depth: 1924.608935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.608935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688514; longitude = -122.106412; captureRadius = 10; duration = 154; initialDepth = 1883.739004; finalDepth = 1874.608935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1874.608935 # Seafloor depth: -1924.608935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.944994 meters # Minimum depth: 1933.739004 meters looking forward 0.000000 meters along route # Maximum depth: 1933.739004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.739004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688135; longitude = -122.107136; captureRadius = 10; duration = 155; initialDepth = 1886.413525; finalDepth = 1883.739004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1883.739004 # Seafloor depth: -1933.739004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 83.532629 meters # Minimum depth: 1936.413525 meters looking forward 0.000000 meters along route # Maximum depth: 1936.413525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.413525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687752; longitude = -122.107868; captureRadius = 10; duration = 167; initialDepth = 1884.537840; finalDepth = 1886.413525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1886.413525 # Seafloor depth: -1936.413525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 77.097275 meters # Minimum depth: 1934.537840 meters looking forward 0.000000 meters along route # Maximum depth: 1934.537840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.537840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687342; longitude = -122.108652; captureRadius = 10; duration = 154; initialDepth = 1888.814380; finalDepth = 1884.537840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1884.53784 # Seafloor depth: -1934.537840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 81.250505 meters # Minimum depth: 1938.814380 meters looking forward 0.000000 meters along route # Maximum depth: 1938.814380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.814380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686963; longitude = -122.109375; captureRadius = 10; duration = 162; initialDepth = 1846.326599; finalDepth = 1888.814380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1888.81438 # Seafloor depth: -1938.814380 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 76.897859 meters # Minimum depth: 1896.326599 meters looking forward 0.000000 meters along route # Maximum depth: 1896.326599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.326599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686564; longitude = -122.110138; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 1861.302009; finalDepth = 1846.326599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1846.326599 # Seafloor depth: -1896.326599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 76.552935 meters # Minimum depth: 1911.302009 meters looking forward 0.000000 meters along route # Maximum depth: 1911.302009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.302009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687234; longitude = -122.110361; captureRadius = 10; duration = 153; initialDepth = 1864.140442; finalDepth = 1861.302009; 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: 1861.302009 # Seafloor depth: -1911.302009 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 85.987726 meters # Minimum depth: 1914.140442 meters looking forward 0.000000 meters along route # Maximum depth: 1914.140442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.140442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687900; longitude = -122.110583; captureRadius = 10; duration = 171; # abortOnTimeout = True; initialDepth = 1882.134886; finalDepth = 1864.140442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.140442 # Seafloor depth: -1914.140442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 83.103970 meters # Minimum depth: 1932.134886 meters looking forward 0.000000 meters along route # Maximum depth: 1932.134886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.134886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688317; longitude = -122.109772; captureRadius = 10; duration = 166; initialDepth = 1881.771636; finalDepth = 1882.134886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1882.134886 # Seafloor depth: -1932.134886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 83.711404 meters # Minimum depth: 1931.771636 meters looking forward 0.000000 meters along route # Maximum depth: 1931.771636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.771636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688720; longitude = -122.108988; captureRadius = 10; duration = 167; initialDepth = 1872.533964; finalDepth = 1881.771636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1881.771636 # Seafloor depth: -1931.771636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 82.495650 meters # Minimum depth: 1922.533964 meters looking forward 0.000000 meters along route # Maximum depth: 1922.533964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.533964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689126; longitude = -122.108198; captureRadius = 10; duration = 164; initialDepth = 1857.427168; finalDepth = 1872.533964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1872.533964 # Seafloor depth: -1922.533964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.725447 meters # Minimum depth: 1907.427168 meters looking forward 0.000000 meters along route # Maximum depth: 1907.427168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.427168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689527; longitude = -122.107420; captureRadius = 10; duration = 169; initialDepth = 1871.192690; finalDepth = 1857.427168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1857.427168 # Seafloor depth: -1907.427168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 81.480427 meters # Minimum depth: 1921.192690 meters looking forward 0.000000 meters along route # Maximum depth: 1921.192690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.192690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689938; longitude = -122.106621; captureRadius = 10; duration = 162; initialDepth = 1867.631143; finalDepth = 1871.192690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1871.19269 # Seafloor depth: -1921.192690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 85.739475 meters # Minimum depth: 1917.631143 meters looking forward 0.000000 meters along route # Maximum depth: 1917.631143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.631143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690333; longitude = -122.105852; captureRadius = 10; duration = 171; initialDepth = 1858.452943; finalDepth = 1867.631143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1867.631143 # Seafloor depth: -1917.631143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 80.465219 meters # Minimum depth: 1908.452943 meters looking forward 0.000000 meters along route # Maximum depth: 1908.452943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.452943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690749; longitude = -122.105043; captureRadius = 10; duration = 160; initialDepth = 1844.380812; finalDepth = 1858.452943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1858.452943 # Seafloor depth: -1908.452943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 86.753488 meters # Minimum depth: 1894.380812 meters looking forward 0.000000 meters along route # Maximum depth: 1894.380812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.380812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691139; longitude = -122.104284; captureRadius = 10; duration = 173; initialDepth = 1834.882730; finalDepth = 1844.380812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1844.380812 # Seafloor depth: -1894.380812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 79.450025 meters # Minimum depth: 1884.882730 meters looking forward 0.000000 meters along route # Maximum depth: 1884.882730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.882730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691560; longitude = -122.103466; captureRadius = 10; duration = 158; initialDepth = 1824.339888; finalDepth = 1834.882730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.88273 # Seafloor depth: -1884.882730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 83.101313 meters # Minimum depth: 1874.339888 meters looking forward 0.000000 meters along route # Maximum depth: 1874.339888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.339888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691946; longitude = -122.102716; captureRadius = 10; duration = 166; initialDepth = 1808.527120; finalDepth = 1824.339888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1824.339888 # Seafloor depth: -1874.339888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 78.984685 meters # Minimum depth: 1858.527120 meters looking forward 0.000000 meters along route # Maximum depth: 1858.527120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.527120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692349; longitude = -122.101932; captureRadius = 10; duration = 157; initialDepth = 1798.413289; finalDepth = 1808.527120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.52712 # Seafloor depth: -1858.527120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 75.345544 meters # Minimum depth: 1848.413289 meters looking forward 0.000000 meters along route # Maximum depth: 1848.413289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.413289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692732; longitude = -122.101187; captureRadius = 10; duration = 150; initialDepth = 1790.340616; finalDepth = 1798.413289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.413289 # Seafloor depth: -1848.413289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 83.100470 meters # Minimum depth: 1840.340616 meters looking forward 0.000000 meters along route # Maximum depth: 1840.340616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.340616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693098; longitude = -122.100476; captureRadius = 10; duration = 166; initialDepth = 1781.059191; finalDepth = 1790.340616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1790.340616 # Seafloor depth: -1840.340616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 83.100176 meters # Minimum depth: 1831.059191 meters looking forward 0.000000 meters along route # Maximum depth: 1831.059191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.059191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693501; longitude = -122.099692; captureRadius = 10; duration = 166; initialDepth = 1767.857771; finalDepth = 1781.059191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1781.059191 # Seafloor depth: -1831.059191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 83.099880 meters # Minimum depth: 1817.857771 meters looking forward 0.000000 meters along route # Maximum depth: 1817.857771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.857771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693904; longitude = -122.098909; captureRadius = 10; duration = 166; initialDepth = 1767.813851; finalDepth = 1767.857771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.857771 # Seafloor depth: -1817.857771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 84.101520 meters # Minimum depth: 1817.813851 meters looking forward 0.000000 meters along route # Maximum depth: 1817.813851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.813851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694307; longitude = -122.098125; captureRadius = 10; duration = 168; initialDepth = 1777.932724; finalDepth = 1767.813851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.813851 # Seafloor depth: -1817.813851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 82.097356 meters # Minimum depth: 1827.932724 meters looking forward 0.000000 meters along route # Maximum depth: 1827.932724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.932724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694715; longitude = -122.097331; captureRadius = 10; duration = 164; initialDepth = 1782.079638; finalDepth = 1777.932724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.932724 # Seafloor depth: -1827.932724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 85.115510 meters # Minimum depth: 1832.079638 meters looking forward 0.000000 meters along route # Maximum depth: 1832.079638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.079638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695113; longitude = -122.096557; captureRadius = 10; duration = 170; initialDepth = 1784.353078; finalDepth = 1782.079638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.079638 # Seafloor depth: -1832.079638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 79.682135 meters # Minimum depth: 1834.353078 meters looking forward 0.000000 meters along route # Maximum depth: 1834.353078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.353078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695526; longitude = -122.095754; captureRadius = 10; duration = 159; initialDepth = 1776.632629; finalDepth = 1784.353078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.353078 # Seafloor depth: -1834.353078 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 73.007470 meters # Minimum depth: 1826.632629 meters looking forward 0.000000 meters along route # Maximum depth: 1826.632629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.632629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695913; longitude = -122.095002; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 1766.909245; finalDepth = 1776.632629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1776.632629 # Seafloor depth: -1826.632629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 80.131092 meters # Minimum depth: 1816.909245 meters looking forward 0.000000 meters along route # Maximum depth: 1816.909245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.909245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.695256; longitude = -122.094955; captureRadius = 10; duration = 160; initialDepth = 1741.878542; finalDepth = 1766.909245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1766.909245 # Seafloor depth: -1816.909245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131086 meters # Minimum depth: 1791.878542 meters looking forward 0.000000 meters along route # Maximum depth: 1791.878542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.878542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.694535; longitude = -122.094904; captureRadius = 10; duration = 160; initialDepth = 1718.548302; finalDepth = 1741.878542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1741.878542 # Seafloor depth: -1791.878542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131079 meters # Minimum depth: 1768.548302 meters looking forward 0.000000 meters along route # Maximum depth: 1768.548302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.548302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693814; longitude = -122.094852; captureRadius = 10; duration = 160; initialDepth = 1705.124957; finalDepth = 1718.548302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.548302 # Seafloor depth: -1768.548302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131073 meters # Minimum depth: 1755.124957 meters looking forward 0.000000 meters along route # Maximum depth: 1755.124957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.124957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.693093; longitude = -122.094800; captureRadius = 10; duration = 160; initialDepth = 1705.475124; finalDepth = 1705.124957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1705.124957 # Seafloor depth: -1755.124957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131067 meters # Minimum depth: 1755.475124 meters looking forward 0.000000 meters along route # Maximum depth: 1755.475124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.475124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.692371; longitude = -122.094749; captureRadius = 10; duration = 160; initialDepth = 1721.621468; finalDepth = 1705.475124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1705.475124 # Seafloor depth: -1755.475124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131060 meters # Minimum depth: 1771.621468 meters looking forward 0.000000 meters along route # Maximum depth: 1771.621468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.621468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.691650; longitude = -122.094697; captureRadius = 10; duration = 160; initialDepth = 1748.740271; finalDepth = 1721.621468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1721.621468 # Seafloor depth: -1771.621468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131054 meters # Minimum depth: 1798.740271 meters looking forward 0.000000 meters along route # Maximum depth: 1798.740271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.740271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690929; longitude = -122.094646; captureRadius = 10; duration = 160; initialDepth = 1772.243776; finalDepth = 1748.740271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1748.740271 # Seafloor depth: -1798.740271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 83.254023 meters # Minimum depth: 1822.243776 meters looking forward 0.000000 meters along route # Maximum depth: 1822.243776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.243776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.690208; longitude = -122.094594; captureRadius = 10; duration = 166; initialDepth = 1762.625339; finalDepth = 1772.243776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1772.243776 # Seafloor depth: -1822.243776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 77.008065 meters # Minimum depth: 1812.625339 meters looking forward 0.000000 meters along route # Maximum depth: 1812.625339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.625339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.689459; longitude = -122.094541; captureRadius = 10; duration = 154; initialDepth = 1750.224526; finalDepth = 1762.625339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.625339 # Seafloor depth: -1812.625339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131035 meters # Minimum depth: 1800.224526 meters looking forward 0.000000 meters along route # Maximum depth: 1800.224526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.224526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688766; longitude = -122.094491; captureRadius = 10; duration = 160; initialDepth = 1750.041491; finalDepth = 1750.224526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1750.224526 # Seafloor depth: -1800.224526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131028 meters # Minimum depth: 1800.041491 meters looking forward 0.000000 meters along route # Maximum depth: 1800.041491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.041491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.688045; longitude = -122.094440; captureRadius = 10; duration = 160; initialDepth = 1768.059262; finalDepth = 1750.041491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1750.041491 # Seafloor depth: -1800.041491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131022 meters # Minimum depth: 1818.059262 meters looking forward 0.000000 meters along route # Maximum depth: 1818.059262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.059262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.687324; longitude = -122.094388; captureRadius = 10; duration = 160; initialDepth = 1794.387870; finalDepth = 1768.059262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.059262 # Seafloor depth: -1818.059262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131016 meters # Minimum depth: 1844.387870 meters looking forward 0.000000 meters along route # Maximum depth: 1844.387870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.387870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.686603; longitude = -122.094337; captureRadius = 10; duration = 160; initialDepth = 1802.800737; finalDepth = 1794.387870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1794.38787 # Seafloor depth: -1844.387870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131009 meters # Minimum depth: 1852.800737 meters looking forward 0.000000 meters along route # Maximum depth: 1852.800737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.800737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685881; longitude = -122.094285; captureRadius = 10; duration = 160; initialDepth = 1805.953261; finalDepth = 1802.800737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.800737 # Seafloor depth: -1852.800737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.131003 meters # Minimum depth: 1855.953261 meters looking forward 0.000000 meters along route # Maximum depth: 1855.953261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.953261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.685160; longitude = -122.094234; captureRadius = 10; duration = 160; initialDepth = 1820.655499; finalDepth = 1805.953261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1805.953261 # Seafloor depth: -1855.953261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130996 meters # Minimum depth: 1870.655499 meters looking forward 0.000000 meters along route # Maximum depth: 1870.655499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.655499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.684439; longitude = -122.094182; captureRadius = 10; duration = 160; initialDepth = 1823.845268; finalDepth = 1820.655499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1820.655499 # Seafloor depth: -1870.655499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130990 meters # Minimum depth: 1873.845268 meters looking forward 0.000000 meters along route # Maximum depth: 1873.845268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.845268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.683718; longitude = -122.094131; captureRadius = 10; duration = 160; initialDepth = 1808.934086; finalDepth = 1823.845268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1823.845268 # Seafloor depth: -1873.845268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130984 meters # Minimum depth: 1858.934086 meters looking forward 0.000000 meters along route # Maximum depth: 1858.934086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.934086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682997; longitude = -122.094079; captureRadius = 10; duration = 160; initialDepth = 1796.268420; finalDepth = 1808.934086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.934086 # Seafloor depth: -1858.934086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130977 meters # Minimum depth: 1846.268420 meters looking forward 0.000000 meters along route # Maximum depth: 1846.268420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.268420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.682276; longitude = -122.094028; captureRadius = 10; duration = 160; initialDepth = 1802.883766; finalDepth = 1796.268420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.26842 # Seafloor depth: -1846.268420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130971 meters # Minimum depth: 1852.883766 meters looking forward 0.000000 meters along route # Maximum depth: 1852.883766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.883766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.681555; longitude = -122.093976; captureRadius = 10; duration = 160; initialDepth = 1812.580372; finalDepth = 1802.883766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1802.883766 # Seafloor depth: -1852.883766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130965 meters # Minimum depth: 1862.580372 meters looking forward 0.000000 meters along route # Maximum depth: 1862.580372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.580372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680834; longitude = -122.093924; captureRadius = 10; duration = 160; initialDepth = 1827.056143; finalDepth = 1812.580372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.580372 # Seafloor depth: -1862.580372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130958 meters # Minimum depth: 1877.056143 meters looking forward 0.000000 meters along route # Maximum depth: 1877.056143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.056143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.680112; longitude = -122.093873; captureRadius = 10; duration = 160; initialDepth = 1833.757760; finalDepth = 1827.056143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1827.056143 # Seafloor depth: -1877.056143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130952 meters # Minimum depth: 1883.757760 meters looking forward 0.000000 meters along route # Maximum depth: 1883.757760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.757760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.679391; longitude = -122.093821; captureRadius = 10; duration = 160; initialDepth = 1829.298716; finalDepth = 1833.757760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1833.75776 # Seafloor depth: -1883.757760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 80.130946 meters # Minimum depth: 1879.298716 meters looking forward 0.000000 meters along route # Maximum depth: 1879.298716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.298716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.678670; longitude = -122.093770; captureRadius = 10; duration = 160; initialDepth = 1830.039723; finalDepth = 1829.298716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.298716 # Seafloor depth: -1879.298716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 81.456754 meters # Minimum depth: 1880.039723 meters looking forward 0.000000 meters along route # Maximum depth: 1880.039723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.039723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677949; longitude = -122.093718; captureRadius = 10; duration = 162; initialDepth = 1809.642731; finalDepth = 1830.039723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1830.039723 # Seafloor depth: -1880.039723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 101.396301 meters # Minimum depth: 1859.642731 meters looking forward 0.000000 meters along route # Maximum depth: 1859.642731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.642731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.677216; longitude = -122.093666; captureRadius = 10; duration = 202; # abortOnTimeout = True; initialDepth = 1825.703561; finalDepth = 1809.642731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1809.642731 # Seafloor depth: -1859.642731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 76.306220 meters # Minimum depth: 1875.703561 meters looking forward 0.000000 meters along route # Maximum depth: 1875.703561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.703561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.676348; longitude = -122.093309; captureRadius = 10; duration = 152; initialDepth = 1813.615856; finalDepth = 1825.703561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.703561 # Seafloor depth: -1875.703561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 82.691917 meters # Minimum depth: 1863.615856 meters looking forward 0.000000 meters along route # Maximum depth: 1863.615856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.615856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.675696; longitude = -122.093040; captureRadius = 10; duration = 165; initialDepth = 1817.496032; finalDepth = 1813.615856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1813.615856 # Seafloor depth: -1863.615856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 75.335121 meters # Minimum depth: 1867.496032 meters looking forward 0.000000 meters along route # Maximum depth: 1867.496032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.496032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674988; longitude = -122.092749; captureRadius = 10; duration = 150; initialDepth = 1829.944419; finalDepth = 1817.496032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1817.496032 # Seafloor depth: -1867.496032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.281192 meters # Minimum depth: 1879.944419 meters looking forward 0.000000 meters along route # Maximum depth: 1879.944419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.944419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.674343; longitude = -122.092484; captureRadius = 10; duration = 168; initialDepth = 1842.680248; finalDepth = 1829.944419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.944419 # Seafloor depth: -1879.944419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 84.281266 meters # Minimum depth: 1892.680248 meters looking forward 0.000000 meters along route # Maximum depth: 1892.680248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.680248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.673622; longitude = -122.092187; captureRadius = 10; duration = 168; initialDepth = 1850.488173; finalDepth = 1842.680248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1842.680248 # Seafloor depth: -1892.680248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 85.459010 meters # Minimum depth: 1900.488173 meters looking forward 0.000000 meters along route # Maximum depth: 1900.488173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.488173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672901; longitude = -122.091890; captureRadius = 10; duration = 170; initialDepth = 1853.643555; finalDepth = 1850.488173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1850.488173 # Seafloor depth: -1900.488173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 106.059847 meters # Minimum depth: 1903.643555 meters looking forward 0.000000 meters along route # Maximum depth: 1903.643555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.643555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.672170; longitude = -122.091589; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1846.457823; finalDepth = 1853.643555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1853.643555 # Seafloor depth: -1903.643555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 82.095753 meters # Minimum depth: 1896.457823 meters looking forward 0.000000 meters along route # Maximum depth: 1896.457823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.457823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671617; longitude = -122.090621; captureRadius = 10; duration = 164; initialDepth = 1841.711080; finalDepth = 1846.457823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1846.457823 # Seafloor depth: -1896.457823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 77.434698 meters # Minimum depth: 1891.711080 meters looking forward 0.000000 meters along route # Maximum depth: 1891.711080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.711080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.671189; longitude = -122.089872; captureRadius = 10; duration = 154; initialDepth = 1842.426250; finalDepth = 1841.711080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.71108 # Seafloor depth: -1891.711080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 75.843927 meters # Minimum depth: 1892.426250 meters looking forward 0.000000 meters along route # Maximum depth: 1892.426250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.426250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670785; longitude = -122.089165; captureRadius = 10; duration = 151; initialDepth = 1834.876495; finalDepth = 1842.426250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1842.42625 # Seafloor depth: -1892.426250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 88.534498 meters # Minimum depth: 1884.876495 meters looking forward 0.000000 meters along route # Maximum depth: 1884.876495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.876495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670389; longitude = -122.088473; captureRadius = 10; duration = 177; # abortOnTimeout = True; initialDepth = 1825.624128; finalDepth = 1834.876495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1834.876495 # Seafloor depth: -1884.876495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 80.307326 meters # Minimum depth: 1875.624128 meters looking forward 0.000000 meters along route # Maximum depth: 1875.624128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.624128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670327; longitude = -122.087485; captureRadius = 10; duration = 160; initialDepth = 1818.660562; finalDepth = 1825.624128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1825.624128 # Seafloor depth: -1875.624128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 80.307397 meters # Minimum depth: 1868.660562 meters looking forward 0.000000 meters along route # Maximum depth: 1868.660562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.660562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670271; longitude = -122.086589; captureRadius = 10; duration = 160; initialDepth = 1810.243908; finalDepth = 1818.660562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.660562 # Seafloor depth: -1868.660562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 80.307467 meters # Minimum depth: 1860.243908 meters looking forward 0.000000 meters along route # Maximum depth: 1860.243908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.243908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670215; longitude = -122.085693; captureRadius = 10; duration = 160; initialDepth = 1803.380950; finalDepth = 1810.243908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1810.243908 # Seafloor depth: -1860.243908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 75.359655 meters # Minimum depth: 1853.380950 meters looking forward 0.000000 meters along route # Maximum depth: 1853.380950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.380950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670159; longitude = -122.084797; captureRadius = 10; duration = 150; initialDepth = 1795.851923; finalDepth = 1803.380950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.38095 # Seafloor depth: -1853.380950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 75.217038 meters # Minimum depth: 1845.851923 meters looking forward 0.000000 meters along route # Maximum depth: 1845.851923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.851923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670107; longitude = -122.083957; captureRadius = 10; duration = 150; initialDepth = 1788.497159; finalDepth = 1795.851923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.851923 # Seafloor depth: -1845.851923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 80.307671 meters # Minimum depth: 1838.497159 meters looking forward 0.000000 meters along route # Maximum depth: 1838.497159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.497159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.670054; longitude = -122.083118; captureRadius = 10; duration = 160; initialDepth = 1783.090313; finalDepth = 1788.497159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1788.497159 # Seafloor depth: -1838.497159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 78.126305 meters # Minimum depth: 1833.090313 meters looking forward 0.000000 meters along route # Maximum depth: 1833.090313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.090313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669998; longitude = -122.082222; captureRadius = 10; duration = 156; initialDepth = 1778.122681; finalDepth = 1783.090313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1783.090313 # Seafloor depth: -1833.090313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 137.809346 meters # Minimum depth: 1828.122681 meters looking forward 0.000000 meters along route # Maximum depth: 1828.122681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.122681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669944; longitude = -122.081350; captureRadius = 10; duration = 275; # abortOnTimeout = True; initialDepth = 1761.237409; finalDepth = 1778.122681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.122681 # Seafloor depth: -1828.122681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 83.411743 meters # Minimum depth: 1811.237409 meters looking forward 0.000000 meters along route # Maximum depth: 1811.237409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.237409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669596; longitude = -122.079870; captureRadius = 10; duration = 166; initialDepth = 1752.022352; finalDepth = 1761.237409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1761.237409 # Seafloor depth: -1811.237409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 83.411966 meters # Minimum depth: 1802.022352 meters looking forward 0.000000 meters along route # Maximum depth: 1802.022352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.022352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669385; longitude = -122.078974; captureRadius = 10; duration = 166; initialDepth = 1745.624109; finalDepth = 1752.022352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1752.022352 # Seafloor depth: -1802.022352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 83.412189 meters # Minimum depth: 1795.624109 meters looking forward 0.000000 meters along route # Maximum depth: 1795.624109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.624109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.669174; longitude = -122.078078; captureRadius = 10; duration = 166; initialDepth = 1742.380364; finalDepth = 1745.624109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1745.624109 # Seafloor depth: -1795.624109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 81.735156 meters # Minimum depth: 1792.380364 meters looking forward 0.000000 meters along route # Maximum depth: 1792.380364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.380364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668964; longitude = -122.077182; captureRadius = 10; duration = 163; initialDepth = 1719.154205; finalDepth = 1742.380364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1742.380364 # Seafloor depth: -1792.380364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 112.169069 meters # Minimum depth: 1769.154205 meters looking forward 0.000000 meters along route # Maximum depth: 1769.154205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.154205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668757; longitude = -122.076304; captureRadius = 10; duration = 224; # abortOnTimeout = True; initialDepth = 1718.429889; finalDepth = 1719.154205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1719.154205 # Seafloor depth: -1769.154205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 78.029717 meters # Minimum depth: 1768.429889 meters looking forward 0.000000 meters along route # Maximum depth: 1768.429889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.429889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668330; longitude = -122.075166; captureRadius = 10; duration = 156; initialDepth = 1709.158199; finalDepth = 1718.429889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.429889 # Seafloor depth: -1768.429889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 76.521692 meters # Minimum depth: 1759.158199 meters looking forward 0.000000 meters along route # Maximum depth: 1759.158199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.158199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.668034; longitude = -122.074374; captureRadius = 10; duration = 153; initialDepth = 1703.495104; finalDepth = 1709.158199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.158199 # Seafloor depth: -1759.158199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 84.295042 meters # Minimum depth: 1753.495104 meters looking forward 0.000000 meters along route # Maximum depth: 1753.495104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.495104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667743; longitude = -122.073598; captureRadius = 10; duration = 168; initialDepth = 1698.417603; finalDepth = 1703.495104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1703.495104 # Seafloor depth: -1753.495104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 68.180169 meters # Minimum depth: 1748.417603 meters looking forward 0.000000 meters along route # Maximum depth: 1748.417603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.417603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.667422; longitude = -122.072743; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 1693.701305; finalDepth = 1698.417603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.417603 # Seafloor depth: -1748.417603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 76.794958 meters # Minimum depth: 1743.701305 meters looking forward 0.000000 meters along route # Maximum depth: 1743.701305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.701305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666862; longitude = -122.072429; captureRadius = 10; duration = 153; initialDepth = 1684.548042; finalDepth = 1693.701305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1693.701305 # Seafloor depth: -1743.701305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 76.795064 meters # Minimum depth: 1734.548042 meters looking forward 0.000000 meters along route # Maximum depth: 1734.548042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.548042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.666231; longitude = -122.072076; captureRadius = 10; duration = 153; initialDepth = 1678.566427; finalDepth = 1684.548042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1684.548042 # Seafloor depth: -1734.548042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 76.795167 meters # Minimum depth: 1728.566427 meters looking forward 0.000000 meters along route # Maximum depth: 1728.566427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.566427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.665600; longitude = -122.071722; captureRadius = 10; duration = 153; initialDepth = 1674.468656; finalDepth = 1678.566427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1678.566427 # Seafloor depth: -1728.566427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 76.795272 meters # Minimum depth: 1724.468656 meters looking forward 0.000000 meters along route # Maximum depth: 1724.468656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.468656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664969; longitude = -122.071369; captureRadius = 10; duration = 153; initialDepth = 1665.077213; finalDepth = 1674.468656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1674.468656 # Seafloor depth: -1724.468656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 76.173565 meters # Minimum depth: 1715.077213 meters looking forward 0.000000 meters along route # Maximum depth: 1715.077213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.077213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.664338; longitude = -122.071016; captureRadius = 10; duration = 152; initialDepth = 1659.415741; finalDepth = 1665.077213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1665.077213 # Seafloor depth: -1715.077213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 110.564970 meters # Minimum depth: 1709.415741 meters looking forward 0.000000 meters along route # Maximum depth: 1709.415741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.415741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.663712; longitude = -122.070665; captureRadius = 10; duration = 221; # abortOnTimeout = True; initialDepth = 1651.373713; finalDepth = 1659.415741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1659.415741 # Seafloor depth: -1709.415741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.998673 meters # Minimum depth: 1701.373713 meters looking forward 0.000000 meters along route # Maximum depth: 1701.373713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.373713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.662715; longitude = -122.070665; captureRadius = 10; duration = 159; initialDepth = 1646.684207; finalDepth = 1651.373713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1651.373713 # Seafloor depth: -1701.373713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 79.998663 meters # Minimum depth: 1696.684207 meters looking forward 0.000000 meters along route # Maximum depth: 1696.684207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.684207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661994; longitude = -122.070665; captureRadius = 10; duration = 159; initialDepth = 1641.714645; finalDepth = 1646.684207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1646.684207 # Seafloor depth: -1696.684207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 75.115402 meters # Minimum depth: 1691.714645 meters looking forward 0.000000 meters along route # Maximum depth: 1691.714645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.714645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.661273; longitude = -122.070665; captureRadius = 10; duration = 150; initialDepth = 1638.017944; finalDepth = 1641.714645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1641.714645 # Seafloor depth: -1691.714645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 97.192424 meters # Minimum depth: 1688.017944 meters looking forward 0.000000 meters along route # Maximum depth: 1688.017944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.017944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.660596; longitude = -122.070665; captureRadius = 10; duration = 194; # abortOnTimeout = True; initialDepth = 1634.659463; finalDepth = 1638.017944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1638.017944 # Seafloor depth: -1688.017944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 80.150989 meters # Minimum depth: 1684.659463 meters looking forward 0.000000 meters along route # Maximum depth: 1684.659463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.659463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659831; longitude = -122.071195; captureRadius = 10; duration = 160; initialDepth = 1633.441519; finalDepth = 1634.659463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1634.659463 # Seafloor depth: -1684.659463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.151131 meters # Minimum depth: 1683.441519 meters looking forward 0.000000 meters along route # Maximum depth: 1683.441519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.441519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.659200; longitude = -122.071632; captureRadius = 10; duration = 160; initialDepth = 1626.605829; finalDepth = 1633.441519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1633.441519 # Seafloor depth: -1683.441519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.151273 meters # Minimum depth: 1676.605829 meters looking forward 0.000000 meters along route # Maximum depth: 1676.605829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.605829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658569; longitude = -122.072068; captureRadius = 10; duration = 160; initialDepth = 1621.641799; finalDepth = 1626.605829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1626.605829 # Seafloor depth: -1676.605829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.151416 meters # Minimum depth: 1671.641799 meters looking forward 0.000000 meters along route # Maximum depth: 1671.641799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.641799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657938; longitude = -122.072505; captureRadius = 10; duration = 160; initialDepth = 1609.104427; finalDepth = 1621.641799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1621.641799 # Seafloor depth: -1671.641799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 80.151558 meters # Minimum depth: 1659.104427 meters looking forward 0.000000 meters along route # Maximum depth: 1659.104427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.104427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657307; longitude = -122.072942; captureRadius = 10; duration = 160; initialDepth = 1605.256448; finalDepth = 1609.104427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1609.104427 # Seafloor depth: -1659.104427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 81.342081 meters # Minimum depth: 1655.256448 meters looking forward 0.000000 meters along route # Maximum depth: 1655.256448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.256448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656676; longitude = -122.073379; captureRadius = 10; duration = 162; initialDepth = 1601.242567; finalDepth = 1605.256448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1605.256448 # Seafloor depth: -1655.256448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 78.961463 meters # Minimum depth: 1651.242567 meters looking forward 0.000000 meters along route # Maximum depth: 1651.242567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.242567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656036; longitude = -122.073822; captureRadius = 10; duration = 157; initialDepth = 1598.322755; finalDepth = 1601.242567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1601.242567 # Seafloor depth: -1651.242567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 76.976836 meters # Minimum depth: 1648.322755 meters looking forward 0.000000 meters along route # Maximum depth: 1648.322755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.322755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655414; longitude = -122.074252; captureRadius = 10; duration = 153; initialDepth = 1595.571960; finalDepth = 1598.322755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1598.322755 # Seafloor depth: -1648.322755 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 74.704107 meters # Minimum depth: 1645.571960 meters looking forward 0.000000 meters along route # Maximum depth: 1645.571960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.571960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654808; longitude = -122.074672; captureRadius = 10; duration = 149; # abortOnTimeout = True; initialDepth = 1579.979638; finalDepth = 1595.571960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1595.57196 # Seafloor depth: -1645.571960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 80.252669 meters # Minimum depth: 1629.979638 meters looking forward 0.000000 meters along route # Maximum depth: 1629.979638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.979638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654492; longitude = -122.073934; captureRadius = 10; duration = 160; initialDepth = 1554.818784; finalDepth = 1579.979638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1579.979638 # Seafloor depth: -1629.979638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 78.487858 meters # Minimum depth: 1604.818784 meters looking forward 0.000000 meters along route # Maximum depth: 1604.818784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.818784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654152; longitude = -122.073141; captureRadius = 10; duration = 156; initialDepth = 1541.085055; finalDepth = 1554.818784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1554.818784 # Seafloor depth: -1604.818784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.370682 meters # Minimum depth: 1591.085055 meters looking forward 0.000000 meters along route # Maximum depth: 1591.085055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.085055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653820; longitude = -122.072366; captureRadius = 10; duration = 158; initialDepth = 1518.198605; finalDepth = 1541.085055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1541.085055 # Seafloor depth: -1591.085055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 79.370962 meters # Minimum depth: 1568.198605 meters looking forward 0.000000 meters along route # Maximum depth: 1568.198605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.198605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653484; longitude = -122.071582; captureRadius = 10; duration = 158; initialDepth = 1509.454083; finalDepth = 1518.198605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1518.198605 # Seafloor depth: -1568.198605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 82.171451 meters # Minimum depth: 1559.454083 meters looking forward 0.000000 meters along route # Maximum depth: 1559.454083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.454083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653148; longitude = -122.070798; captureRadius = 10; duration = 164; initialDepth = 1499.647014; finalDepth = 1509.454083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1509.454083 # Seafloor depth: -1559.454083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 76.571309 meters # Minimum depth: 1549.647014 meters looking forward 0.000000 meters along route # Maximum depth: 1549.647014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.647014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652800; longitude = -122.069987; captureRadius = 10; duration = 153; initialDepth = 1487.965796; finalDepth = 1499.647014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1499.647014 # Seafloor depth: -1549.647014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 80.028306 meters # Minimum depth: 1537.965796 meters looking forward 0.000000 meters along route # Maximum depth: 1537.965796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.965796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652476; longitude = -122.069230; captureRadius = 10; duration = 160; initialDepth = 1439.477844; finalDepth = 1487.965796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1487.965796 # Seafloor depth: -1537.965796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 119.976851 meters # Minimum depth: 1489.477844 meters looking forward 0.000000 meters along route # Maximum depth: 1489.477844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.477844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652137; longitude = -122.068440; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 1391.237516; finalDepth = 1439.477844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1439.477844 # Seafloor depth: -1489.477844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 80.372294 meters # Minimum depth: 1441.237516 meters looking forward 0.000000 meters along route # Maximum depth: 1441.237516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.237516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652228; longitude = -122.067103; captureRadius = 10; duration = 160; initialDepth = 1374.338665; finalDepth = 1391.237516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1391.237516 # Seafloor depth: -1441.237516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 80.372245 meters # Minimum depth: 1424.338665 meters looking forward 0.000000 meters along route # Maximum depth: 1424.338665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.338665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652289; longitude = -122.066207; captureRadius = 10; duration = 160; initialDepth = 1358.528185; finalDepth = 1374.338665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1374.338665 # Seafloor depth: -1424.338665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 77.029837 meters # Minimum depth: 1408.528185 meters looking forward 0.000000 meters along route # Maximum depth: 1408.528185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.528185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652350; longitude = -122.065311; captureRadius = 10; duration = 154; initialDepth = 1345.694000; finalDepth = 1358.528185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1358.528185 # Seafloor depth: -1408.528185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 97.378870 meters # Minimum depth: 1395.694000 meters looking forward 0.000000 meters along route # Maximum depth: 1395.694000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1345.694000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652409; longitude = -122.064452; captureRadius = 10; duration = 194; # abortOnTimeout = True; initialDepth = 1330.434380; finalDepth = 1345.694000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1345.694 # Seafloor depth: -1395.694000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 83.473161 meters # Minimum depth: 1380.434380 meters looking forward 0.000000 meters along route # Maximum depth: 1380.434380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1330.434380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652657; longitude = -122.063407; captureRadius = 10; duration = 166; initialDepth = 1320.187538; finalDepth = 1330.434380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1330.43438 # Seafloor depth: -1380.434380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 79.315847 meters # Minimum depth: 1370.187538 meters looking forward 0.000000 meters along route # Maximum depth: 1370.187538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1320.187538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.652869; longitude = -122.062511; captureRadius = 10; duration = 158; initialDepth = 1305.188762; finalDepth = 1320.187538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1320.187538 # Seafloor depth: -1370.187538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 77.195801 meters # Minimum depth: 1355.188762 meters looking forward 0.000000 meters along route # Maximum depth: 1355.188762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.188762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653070; longitude = -122.061660; captureRadius = 10; duration = 154; initialDepth = 1290.314937; finalDepth = 1305.188762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1305.188762 # Seafloor depth: -1355.188762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 76.487564 meters # Minimum depth: 1340.314937 meters looking forward 0.000000 meters along route # Maximum depth: 1340.314937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1290.314937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653267; longitude = -122.060831; captureRadius = 10; duration = 152; initialDepth = 1275.950806; finalDepth = 1290.314937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1290.314937 # Seafloor depth: -1340.314937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 102.328667 meters # Minimum depth: 1325.950806 meters looking forward 0.000000 meters along route # Maximum depth: 1325.950806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.950806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653461; longitude = -122.060010; captureRadius = 10; duration = 204; # abortOnTimeout = True; initialDepth = 1254.255044; finalDepth = 1275.950806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1275.950806 # Seafloor depth: -1325.950806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 84.661210 meters # Minimum depth: 1304.255044 meters looking forward 0.000000 meters along route # Maximum depth: 1304.255044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1254.255044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653760; longitude = -122.058927; captureRadius = 10; duration = 169; initialDepth = 1235.231890; finalDepth = 1254.255044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1254.255044 # Seafloor depth: -1304.255044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 80.193167 meters # Minimum depth: 1285.231890 meters looking forward 0.000000 meters along route # Maximum depth: 1285.231890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.231890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654008; longitude = -122.058031; captureRadius = 10; duration = 160; initialDepth = 1216.774234; finalDepth = 1235.231890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1235.23189 # Seafloor depth: -1285.231890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 78.545985 meters # Minimum depth: 1266.774234 meters looking forward 0.000000 meters along route # Maximum depth: 1266.774234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.774234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654242; longitude = -122.057182; captureRadius = 10; duration = 157; initialDepth = 1195.745707; finalDepth = 1216.774234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1216.774234 # Seafloor depth: -1266.774234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 84.660554 meters # Minimum depth: 1245.745707 meters looking forward 0.000000 meters along route # Maximum depth: 1245.745707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.745707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654472; longitude = -122.056351; captureRadius = 10; duration = 169; initialDepth = 1169.591734; finalDepth = 1195.745707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1195.745707 # Seafloor depth: -1245.745707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 84.660325 meters # Minimum depth: 1219.591734 meters looking forward 0.000000 meters along route # Maximum depth: 1219.591734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.591734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654719; longitude = -122.055455; captureRadius = 10; duration = 169; initialDepth = 1148.434060; finalDepth = 1169.591734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1169.591734 # Seafloor depth: -1219.591734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 81.109708 meters # Minimum depth: 1198.434060 meters looking forward 0.000000 meters along route # Maximum depth: 1198.434060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.434060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654967; longitude = -122.054559; captureRadius = 10; duration = 162; initialDepth = 1125.075073; finalDepth = 1148.434060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1148.43406 # Seafloor depth: -1198.434060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 87.729748 meters # Minimum depth: 1175.075073 meters looking forward 0.000000 meters along route # Maximum depth: 1175.075073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.075073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655204; longitude = -122.053701; captureRadius = 10; duration = 175; # abortOnTimeout = True; initialDepth = 1102.046868; finalDepth = 1125.075073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1125.075073 # Seafloor depth: -1175.075073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 84.841308 meters # Minimum depth: 1152.046868 meters looking forward 0.000000 meters along route # Maximum depth: 1152.046868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.046868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655448; longitude = -122.052767; captureRadius = 10; duration = 169; initialDepth = 1075.088054; finalDepth = 1102.046868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1102.046868 # Seafloor depth: -1152.046868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.555442 meters # Minimum depth: 1125.088054 meters looking forward 0.000000 meters along route # Maximum depth: 1125.088054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.088054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655684; longitude = -122.051865; captureRadius = 10; duration = 167; initialDepth = 1041.003080; finalDepth = 1075.088054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1075.088054 # Seafloor depth: -1125.088054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 78.343991 meters # Minimum depth: 1091.003080 meters looking forward 0.000000 meters along route # Maximum depth: 1091.003080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.003080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655917; longitude = -122.050976; captureRadius = 10; duration = 156; initialDepth = 1020.117855; finalDepth = 1041.003080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1041.00308 # Seafloor depth: -1091.003080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 79.527174 meters # Minimum depth: 1070.117855 meters looking forward 0.000000 meters along route # Maximum depth: 1070.117855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.117855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656135; longitude = -122.050142; captureRadius = 10; duration = 159; initialDepth = 992.030930; finalDepth = 1020.117855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1020.117855 # Seafloor depth: -1070.117855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 83.517482 meters # Minimum depth: 1042.030930 meters looking forward 0.000000 meters along route # Maximum depth: 1042.030930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.030930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656356; longitude = -122.049296; captureRadius = 10; duration = 167; initialDepth = 965.812515; finalDepth = 992.030930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 992.03093 # Seafloor depth: -1042.030930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 136.930290 meters # Minimum depth: 1015.812515 meters looking forward 0.000000 meters along route # Maximum depth: 1015.812515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.812515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656589; longitude = -122.048407; captureRadius = 10; duration = 273; # abortOnTimeout = True; initialDepth = 903.049353; finalDepth = 965.812515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.812515 # Seafloor depth: -1015.812515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 83.847698 meters # Minimum depth: 953.049353 meters looking forward 0.000000 meters along route # Maximum depth: 953.049353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.049353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656955; longitude = -122.046944; captureRadius = 10; duration = 167; initialDepth = 850.585015; finalDepth = 903.049353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 903.049353 # Seafloor depth: -953.049353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 83.847491 meters # Minimum depth: 900.585015 meters looking forward 0.000000 meters along route # Maximum depth: 900.585015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.585015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657179; longitude = -122.046048; captureRadius = 10; duration = 167; initialDepth = 830.779337; finalDepth = 850.585015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 850.585015 # Seafloor depth: -900.585015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 83.847283 meters # Minimum depth: 880.779337 meters looking forward 0.000000 meters along route # Maximum depth: 880.779337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.779337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657403; longitude = -122.045152; captureRadius = 10; duration = 167; initialDepth = 812.631855; finalDepth = 830.779337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 830.779337 # Seafloor depth: -880.779337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 83.847076 meters # Minimum depth: 862.631855 meters looking forward 0.000000 meters along route # Maximum depth: 862.631855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.631855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657627; longitude = -122.044256; captureRadius = 10; duration = 167; initialDepth = 777.206296; finalDepth = 812.631855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 812.631855 # Seafloor depth: -862.631855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 83.204957 meters # Minimum depth: 827.206296 meters looking forward 0.000000 meters along route # Maximum depth: 827.206296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.206296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657851; longitude = -122.043360; captureRadius = 10; duration = 166; initialDepth = 757.346695; finalDepth = 777.206296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 777.206296 # Seafloor depth: -827.206296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 81.164338 meters # Minimum depth: 807.346695 meters looking forward 0.000000 meters along route # Maximum depth: 807.346695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.346695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658073; longitude = -122.042471; captureRadius = 10; duration = 162; # abortOnTimeout = True; initialDepth = 734.370518; finalDepth = 757.346695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 757.346695 # Seafloor depth: -807.346695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 80.547617 meters # Minimum depth: 784.370518 meters looking forward 0.000000 meters along route # Maximum depth: 784.370518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.370518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658152; longitude = -122.041568; captureRadius = 10; duration = 161; initialDepth = 713.744907; finalDepth = 734.370518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 734.370518 # Seafloor depth: -784.370518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 80.547549 meters # Minimum depth: 763.744907 meters looking forward 0.000000 meters along route # Maximum depth: 763.744907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.744907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658230; longitude = -122.040672; captureRadius = 10; duration = 161; initialDepth = 695.314941; finalDepth = 713.744907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.744907 # Seafloor depth: -763.744907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 83.196026 meters # Minimum depth: 745.314941 meters looking forward 0.000000 meters along route # Maximum depth: 745.314941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.314941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658308; longitude = -122.039776; captureRadius = 10; duration = 166; initialDepth = 674.981204; finalDepth = 695.314941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 695.314941 # Seafloor depth: -745.314941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 77.898873 meters # Minimum depth: 724.981204 meters looking forward 0.000000 meters along route # Maximum depth: 724.981204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.981204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658389; longitude = -122.038851; captureRadius = 10; duration = 155; initialDepth = 656.970546; finalDepth = 674.981204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 674.981204 # Seafloor depth: -724.981204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 77.174540 meters # Minimum depth: 706.970546 meters looking forward 0.000000 meters along route # Maximum depth: 706.970546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.970546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658464; longitude = -122.037984; captureRadius = 10; duration = 154; initialDepth = 631.301178; finalDepth = 656.970546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 656.970546 # Seafloor depth: -706.970546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 73.435157 meters # Minimum depth: 681.301178 meters looking forward 0.000000 meters along route # Maximum depth: 681.301178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.301178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658539; longitude = -122.037126; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 615.235140; finalDepth = 631.301178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 631.301178 # Seafloor depth: -681.301178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 80.092996 meters # Minimum depth: 665.235140 meters looking forward 0.000000 meters along route # Maximum depth: 665.235140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.235140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658551; longitude = -122.036305; captureRadius = 10; duration = 160; initialDepth = 594.114582; finalDepth = 615.235140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 615.23514 # Seafloor depth: -665.235140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 80.092996 meters # Minimum depth: 644.114582 meters looking forward 0.000000 meters along route # Maximum depth: 644.114582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.114582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658564; longitude = -122.035409; captureRadius = 10; duration = 160; initialDepth = 574.516331; finalDepth = 594.114582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 594.114582 # Seafloor depth: -644.114582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 80.092997 meters # Minimum depth: 624.516331 meters looking forward 0.000000 meters along route # Maximum depth: 624.516331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.516331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658577; longitude = -122.034513; captureRadius = 10; duration = 160; initialDepth = 555.527054; finalDepth = 574.516331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 574.516331 # Seafloor depth: -624.516331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 80.092996 meters # Minimum depth: 605.527054 meters looking forward 0.000000 meters along route # Maximum depth: 605.527054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.527054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658590; longitude = -122.033617; captureRadius = 10; duration = 160; initialDepth = 535.549119; finalDepth = 555.527054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 555.527054 # Seafloor depth: -605.527054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 80.092997 meters # Minimum depth: 585.549119 meters looking forward 0.000000 meters along route # Maximum depth: 585.549119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.549119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658603; longitude = -122.032721; captureRadius = 10; duration = 160; initialDepth = 514.458024; finalDepth = 535.549119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 535.549119 # Seafloor depth: -585.549119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 76.774319 meters # Minimum depth: 564.458024 meters looking forward 0.000000 meters along route # Maximum depth: 564.458024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.458024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658616; longitude = -122.031825; captureRadius = 10; duration = 153; initialDepth = 495.038422; finalDepth = 514.458024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 514.458024 # Seafloor depth: -564.458024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 70.948132 meters # Minimum depth: 545.038422 meters looking forward 0.000000 meters along route # Maximum depth: 545.038422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.038422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658629; longitude = -122.030966; captureRadius = 10; duration = 141; # abortOnTimeout = True; initialDepth = 479.806196; finalDepth = 495.038422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 495.038422 # Seafloor depth: -545.038422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 76.640613 meters # Minimum depth: 529.806196 meters looking forward 0.000000 meters along route # Maximum depth: 529.806196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.806196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658479; longitude = -122.030194; captureRadius = 10; duration = 153; initialDepth = 459.153706; finalDepth = 479.806196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 479.806196 # Seafloor depth: -529.806196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 82.386017 meters # Minimum depth: 509.153706 meters looking forward 0.000000 meters along route # Maximum depth: 509.153706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.153706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658316; longitude = -122.029361; captureRadius = 10; duration = 164; initialDepth = 440.216617; finalDepth = 459.153706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 459.153706 # Seafloor depth: -509.153706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 82.386207 meters # Minimum depth: 490.216617 meters looking forward 0.000000 meters along route # Maximum depth: 490.216617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.216617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.658142; longitude = -122.028465; captureRadius = 10; duration = 164; initialDepth = 420.201973; finalDepth = 440.216617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 440.216617 # Seafloor depth: -490.216617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 82.386397 meters # Minimum depth: 470.201973 meters looking forward 0.000000 meters along route # Maximum depth: 470.201973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.201973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657968; longitude = -122.027569; captureRadius = 10; duration = 164; initialDepth = 401.888058; finalDepth = 420.201973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 420.201973 # Seafloor depth: -470.201973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 82.386586 meters # Minimum depth: 451.888058 meters looking forward 0.000000 meters along route # Maximum depth: 451.888058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.888058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657793; longitude = -122.026673; captureRadius = 10; duration = 164; initialDepth = 383.041895; finalDepth = 401.888058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 401.888058 # Seafloor depth: -451.888058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 82.386776 meters # Minimum depth: 433.041895 meters looking forward 0.000000 meters along route # Maximum depth: 433.041895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.041895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657619; longitude = -122.025777; captureRadius = 10; duration = 164; initialDepth = 364.133562; finalDepth = 383.041895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.041895 # Seafloor depth: -433.041895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 78.921988 meters # Minimum depth: 414.133562 meters looking forward 0.000000 meters along route # Maximum depth: 414.133562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.133562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657444; longitude = -122.024881; captureRadius = 10; duration = 157; initialDepth = 345.037254; finalDepth = 364.133562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 364.133562 # Seafloor depth: -414.133562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 71.369623 meters # Minimum depth: 395.037254 meters looking forward 0.000000 meters along route # Maximum depth: 395.037254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.037254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657277; longitude = -122.024023; captureRadius = 10; duration = 142; # abortOnTimeout = True; initialDepth = 327.147974; finalDepth = 345.037254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 345.037254 # Seafloor depth: -395.037254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 76.228294 meters # Minimum depth: 377.147974 meters looking forward 0.000000 meters along route # Maximum depth: 377.147974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.147974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.657127; longitude = -122.023247; captureRadius = 10; duration = 152; initialDepth = 309.235052; finalDepth = 327.147974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 327.147974 # Seafloor depth: -377.147974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.362539 meters # Minimum depth: 359.235052 meters looking forward 0.000000 meters along route # Maximum depth: 359.235052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.235052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656966; longitude = -122.022417; captureRadius = 10; duration = 164; initialDepth = 291.344466; finalDepth = 309.235052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 309.235052 # Seafloor depth: -359.235052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.362727 meters # Minimum depth: 341.344466 meters looking forward 0.000000 meters along route # Maximum depth: 341.344466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.344466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656793; longitude = -122.021521; captureRadius = 10; duration = 164; initialDepth = 272.442783; finalDepth = 291.344466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 291.344466 # Seafloor depth: -341.344466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.362917 meters # Minimum depth: 322.442783 meters looking forward 0.000000 meters along route # Maximum depth: 322.442783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.442783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656619; longitude = -122.020626; captureRadius = 10; duration = 164; initialDepth = 252.121081; finalDepth = 272.442783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 272.442783 # Seafloor depth: -322.442783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.363105 meters # Minimum depth: 302.121081 meters looking forward 0.000000 meters along route # Maximum depth: 302.121081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.121081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656446; longitude = -122.019730; captureRadius = 10; duration = 164; initialDepth = 233.377143; finalDepth = 252.121081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 252.121081 # Seafloor depth: -302.121081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.363294 meters # Minimum depth: 283.377143 meters looking forward 0.000000 meters along route # Maximum depth: 283.377143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.377143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656272; longitude = -122.018834; captureRadius = 10; duration = 164; initialDepth = 213.561469; finalDepth = 233.377143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 233.377143 # Seafloor depth: -283.377143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.363483 meters # Minimum depth: 263.561469 meters looking forward 0.000000 meters along route # Maximum depth: 263.561469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.561469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.656099; longitude = -122.017938; captureRadius = 10; duration = 164; initialDepth = 196.237460; finalDepth = 213.561469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 213.561469 # Seafloor depth: -263.561469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.363672 meters # Minimum depth: 246.237460 meters looking forward 0.000000 meters along route # Maximum depth: 246.237460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.237460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655925; longitude = -122.017042; captureRadius = 10; duration = 164; initialDepth = 177.272755; finalDepth = 196.237460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 196.23746 # Seafloor depth: -246.237460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.363861 meters # Minimum depth: 227.272755 meters looking forward 0.000000 meters along route # Maximum depth: 227.272755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.272755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655752; longitude = -122.016146; captureRadius = 10; duration = 164; initialDepth = 157.618727; finalDepth = 177.272755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 177.272755 # Seafloor depth: -227.272755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 77.867694 meters # Minimum depth: 207.618727 meters looking forward 0.000000 meters along route # Maximum depth: 207.618727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.618727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655578; longitude = -122.015250; captureRadius = 10; duration = 155; initialDepth = 138.672090; finalDepth = 157.618727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 157.618727 # Seafloor depth: -207.618727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 76.565054 meters # Minimum depth: 188.672090 meters looking forward 0.000000 meters along route # Maximum depth: 188.672090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.672090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655414; longitude = -122.014403; captureRadius = 10; duration = 153; initialDepth = 117.769295; finalDepth = 138.672090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 138.67209 # Seafloor depth: -188.672090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.364404 meters # Minimum depth: 167.769295 meters looking forward 0.000000 meters along route # Maximum depth: 167.769295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.769295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655253; longitude = -122.013570; captureRadius = 10; duration = 164; initialDepth = 101.134281; finalDepth = 117.769295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 117.769295 # Seafloor depth: -167.769295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.364593 meters # Minimum depth: 151.134281 meters looking forward 0.000000 meters along route # Maximum depth: 151.134281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.134281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.655079; longitude = -122.012674; captureRadius = 10; duration = 164; initialDepth = 93.719375; finalDepth = 101.134281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 101.134281 # Seafloor depth: -151.134281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.364782 meters # Minimum depth: 143.719375 meters looking forward 0.000000 meters along route # Maximum depth: 143.719375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.719375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654906; longitude = -122.011778; captureRadius = 10; duration = 164; initialDepth = 88.026730; finalDepth = 93.719375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 93.719375 # Seafloor depth: -143.719375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 82.364971 meters # Minimum depth: 138.026730 meters looking forward 0.000000 meters along route # Maximum depth: 138.026730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.026730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654732; longitude = -122.010882; captureRadius = 10; duration = 164; initialDepth = 84.350489; finalDepth = 88.026730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 88.02673 # Seafloor depth: -138.026730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 78.933275 meters # Minimum depth: 134.350489 meters looking forward 0.000000 meters along route # Maximum depth: 134.350489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.350489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654559; longitude = -122.009986; captureRadius = 10; duration = 157; initialDepth = 79.852051; finalDepth = 84.350489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 84.350489 # Seafloor depth: -134.350489 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 101.448749 meters # Minimum depth: 129.852051 meters looking forward 0.000000 meters along route # Maximum depth: 129.852051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.852051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654392; longitude = -122.009128; captureRadius = 10; duration = 202; # abortOnTimeout = True; initialDepth = 72.155843; finalDepth = 79.852051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 79.852051 # Seafloor depth: -129.852051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 76.086769 meters # Minimum depth: 122.155843 meters looking forward 0.000000 meters along route # Maximum depth: 122.155843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.155843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654152; longitude = -122.008033; captureRadius = 10; duration = 152; initialDepth = 70.133649; finalDepth = 72.155843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 72.155843 # Seafloor depth: -122.155843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 76.086946 meters # Minimum depth: 120.133649 meters looking forward 0.000000 meters along route # Maximum depth: 120.133649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.133649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653972; longitude = -122.007211; captureRadius = 10; duration = 152; initialDepth = 68.122181; finalDepth = 70.133649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 70.133649 # Seafloor depth: -120.133649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 76.087123 meters # Minimum depth: 118.122181 meters looking forward 0.000000 meters along route # Maximum depth: 118.122181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.122181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653791; longitude = -122.006390; captureRadius = 10; duration = 152; initialDepth = 56.987520; finalDepth = 68.122181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 68.122181 # Seafloor depth: -118.122181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 78.392979 meters # Minimum depth: 106.987520 meters looking forward 0.000000 meters along route # Maximum depth: 106.987520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.987520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653611; longitude = -122.005569; captureRadius = 10; duration = 156; initialDepth = 60.329317; finalDepth = 56.987520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 56.98752 # Seafloor depth: -106.987520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 83.004536 meters # Minimum depth: 110.329317 meters looking forward 0.000000 meters along route # Maximum depth: 110.329317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.329317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653425; longitude = -122.004723; captureRadius = 10; duration = 166; initialDepth = 59.559239; finalDepth = 60.329317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 60.329317 # Seafloor depth: -110.329317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 79.546212 meters # Minimum depth: 109.559239 meters looking forward 0.000000 meters along route # Maximum depth: 109.559239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.559239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653229; longitude = -122.003827; captureRadius = 10; duration = 159; initialDepth = 58.801697; finalDepth = 59.559239; 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: 59.559239 # Seafloor depth: -109.559239 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 109.147010 meters # Minimum depth: 108.801697 meters looking forward 0.000000 meters along route # Maximum depth: 108.801697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.801697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653040; longitude = -122.002968; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 60.421240; finalDepth = 58.801697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 58.801697 # Seafloor depth: -108.801697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 76.402847 meters # Minimum depth: 110.421240 meters looking forward 0.000000 meters along route # Maximum depth: 110.421240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.421240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.653977; longitude = -122.002595; captureRadius = 10; duration = 152; initialDepth = 60.175598; finalDepth = 60.421240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 60.42124 # Seafloor depth: -110.421240 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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: 60.175598 # Seafloor depth: -110.175598 # 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 110.175598 meters looking forward 0.000000 meters along route # Maximum depth: 110.175598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2106.574219 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.175598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.654633; longitude = -122.002333; captureRadius = 10; duration = 600; initialDepth = 60.175598; finalDepth = 60.175598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 197.206290; 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 = 197.206290; 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 = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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