# 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_5v1.rte # Mission File: 2009MBCanyon_5v1.cfg # Distance: 38807.652866 (m) # Estimated Time: 27017 (s) 7.505 (hr) # Abort Time: 35123 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 315 (s) # Way Points: 136 # Route Points: 474 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 335.620239 (m) # Abort Vehicle Depth: 360.620239 (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 -121.827476 36.796908 -83.708028 0.000000 3 # 1 -121.823293 36.794370 -205.739848 467.543635 3 # 2 -121.825086 36.791801 -223.209635 794.326018 1 # 3 -121.828951 36.790089 -228.342122 1188.087818 1 # 4 -121.831117 36.790104 -229.433777 1381.376285 1 # 5 -121.832984 36.791441 -235.829549 1604.443262 1 # 6 -121.835169 36.792252 -254.100667 1819.153387 1 # 7 -121.838642 36.792342 -263.463460 2129.221826 1 # 8 -121.843124 36.793288 -281.739827 2542.650919 1 # 9 -121.846746 36.794926 -291.219788 2913.420200 1 # 10 -121.851060 36.796728 -297.553385 3347.137071 1 # 11 -121.853637 36.799252 -307.552653 3709.404192 1 # 12 -121.854832 36.801039 -313.833740 3934.555895 1 # 13 -121.856774 36.802406 -337.115194 4164.805675 1 # 14 -121.858025 36.803067 -333.850403 4298.352297 4 # 15 -121.858865 36.801985 -335.602254 4439.829861 3 # 16 -121.857614 36.800874 -328.436605 4606.159624 1 # 17 -121.856232 36.799597 -321.743876 4793.942330 1 # 18 -121.854832 36.798290 -324.777466 4985.336459 1 # 19 -121.853637 36.796593 -316.828593 5201.735417 1 # 20 -121.852012 36.795647 -311.448344 5380.710208 1 # 21 -121.849155 36.794070 -300.609375 5689.898625 1 # 22 -121.846186 36.792853 -290.784505 5987.220389 1 # 23 -121.843012 36.791982 -280.502869 6286.504439 1 # 24 -121.840080 36.791231 -264.948039 6561.044040 1 # 25 -121.837671 36.790375 -255.110046 6796.036600 1 # 26 -121.835375 36.789383 -233.331238 7028.628612 1 # 27 -121.832368 36.788557 -232.716797 7312.118273 1 # 28 -121.828988 36.788572 -216.498128 7613.714290 1 # 29 -121.826822 36.789413 -213.814860 7828.347528 1 # 30 -121.825235 36.790510 -212.198812 8015.048849 1 # 31 -121.823723 36.791771 -206.325948 8209.494930 4 # 32 -121.824189 36.792117 -221.339925 8266.099997 3 # 33 -121.825907 36.790870 -224.593384 8472.566530 1 # 34 -121.828055 36.789638 -228.789551 8707.914740 1 # 35 -121.831416 36.789458 -233.749268 9008.502046 1 # 36 -121.833526 36.790194 -248.410095 9213.729034 1 # 37 -121.835673 36.791080 -253.123291 9429.094870 1 # 38 -121.839016 36.791771 -269.030518 9737.035765 1 # 39 -121.842545 36.792583 -280.940592 10064.546702 1 # 40 -121.846373 36.793829 -295.500244 10433.048643 1 # 41 -121.850780 36.795782 -311.993530 10881.979022 1 # 42 -121.853599 36.797975 -317.961711 11231.956433 1 # 43 -121.856045 36.800648 -331.320679 11600.219159 1 # 44 -121.858398 36.802541 -345.452108 11897.119384 1 # 45 -121.859855 36.802541 -347.318197 12027.062500 3 # 46 -121.860153 36.801670 -331.464762 12127.323261 4 # 47 -121.858417 36.800003 -308.338949 12368.611622 1 # 48 -121.856942 36.798621 -287.347921 12570.667745 1 # 49 -121.855840 36.797704 -278.783101 12712.072133 1 # 50 -121.854701 36.796142 -261.307475 12912.980826 1 # 51 -121.852796 36.794881 -245.645935 13133.149780 1 # 52 -121.850275 36.793394 -252.701436 13412.092496 1 # 53 -121.847605 36.792072 -230.571533 13691.865090 1 # 54 -121.845252 36.791441 -235.834554 13913.162656 1 # 55 -121.842283 36.790765 -229.492676 14188.495725 1 # 56 -121.839595 36.789909 -220.475993 14446.547576 1 # 57 -121.837167 36.788707 -185.871623 14700.895080 1 # 58 -121.834161 36.787881 -195.371053 14984.386853 1 # 59 -121.830295 36.787566 -190.640645 15331.075175 1 # 60 -121.826636 36.788302 -176.677083 15667.716381 1 # 61 -121.824227 36.790059 -172.073486 15957.915750 1 # 62 -121.822770 36.791321 -149.785278 16148.926838 1 # 63 -121.822957 36.792703 -215.669678 16303.141619 4 # 64 -121.824189 36.793288 -203.059387 16430.877429 3 # 65 -121.825534 36.793063 -172.621460 16553.417037 1 # 66 -121.827924 36.791681 -182.636983 16816.073717 1 # 67 -121.829549 36.791366 -181.682068 16965.196385 1 # 68 -121.830837 36.791771 -163.009196 17088.654085 1 # 69 -121.832200 36.792928 -165.887451 17265.455498 1 # 70 -121.834254 36.793349 -190.536825 17454.578404 1 # 71 -121.836215 36.793844 -195.366374 17637.962697 1 # 72 -121.838343 36.793619 -217.561727 17829.539987 1 # 73 -121.840715 36.793964 -238.348531 18044.582278 1 # 74 -121.843665 36.794881 -235.958272 18326.773861 1 # 75 -121.847643 36.796413 -258.391215 18720.258026 1 # 76 -121.850518 36.797975 -267.803792 19029.879384 1 # 77 -121.853188 36.801234 -280.372823 19462.918249 1 # 78 -121.855989 36.803442 -303.720194 19812.851735 4 # 79 -121.860321 36.800318 -339.019328 20332.010483 3 # 80 -121.857465 36.797704 -287.274170 20718.079836 1 # 81 -121.854757 36.794836 -224.340312 21117.664445 1 # 82 -121.850107 36.792042 -197.492879 21635.532804 1 # 83 -121.843180 36.789999 -217.477865 22293.925649 1 # 84 -121.837895 36.787986 -180.718262 22815.671241 1 # 85 -121.834441 36.786980 -155.003042 23143.528433 1 # 86 -121.830352 36.786619 -164.605306 23510.630722 1 # 87 -121.826262 36.787476 -139.129761 23887.706832 1 # 88 -121.823162 36.789924 -127.508046 24275.377239 1 # 89 -121.821874 36.791411 -119.873108 24476.462203 1 # 90 -121.822173 36.793243 -207.337646 24681.507748 4 # 91 -121.823517 36.793784 -203.575399 24815.634624 3 # 92 -121.825571 36.794115 -158.842712 25002.540500 1 # 93 -121.827924 36.792988 -160.034587 25246.862024 1 # 94 -121.829829 36.792718 -163.172323 25419.437035 1 # 95 -121.831528 36.794009 -142.656789 25628.068551 1 # 96 -121.835879 36.794926 -181.370728 26029.363214 1 # 97 -121.839128 36.794745 -219.320516 26319.955653 1 # 98 -121.843105 36.795827 -215.785706 26694.569342 1 # 99 -121.847045 36.797254 -238.023560 27080.112562 1 # 100 -121.849659 36.798756 -249.418905 27366.771397 1 # 101 -121.852199 36.801850 -267.752197 27778.086199 1 # 102 -121.855037 36.803983 -277.502726 28124.663946 3 # 103 -121.858958 36.803217 -343.349691 28484.681273 1 # 104 -121.860695 36.802766 -351.120565 28647.478581 1 # 105 -121.861087 36.801550 -352.544352 28786.918983 1 # 106 -121.861386 36.800363 -356.730998 28921.237874 1 # 107 -121.861386 36.799282 -360.620239 29041.220319 3 # 108 -121.856886 36.795106 -246.187500 29654.272007 3 # 109 -121.849958 36.800498 -239.936829 30514.474735 3 # 110 -121.848390 36.799101 -239.249939 30723.286703 1 # 111 -121.846186 36.797990 -221.486735 30955.353309 1 # 112 -121.842825 36.796728 -204.813680 31286.304010 1 # 113 -121.840379 36.796127 -214.449422 31514.511953 3 # 114 -121.843441 36.789113 -179.834473 32339.311930 3 # 115 -121.849846 36.790585 -195.516296 32933.699454 3 # 116 -121.844225 36.798125 -206.018331 33909.052581 3 # 117 -121.840771 36.797029 -194.837423 34240.410097 1 # 118 -121.839296 36.795737 -216.013143 34434.992920 1 # 119 -121.835617 36.795857 -175.648234 34763.483610 1 # 120 -121.831173 36.795016 -135.261820 35170.848703 1 # 121 -121.829381 36.793844 -136.434875 35376.952065 1 # 122 -121.827364 36.794295 -134.925415 35563.710031 1 # 123 -121.825347 36.795827 -120.562408 35811.238596 4 # 124 -121.826262 36.796533 -86.442434 35924.372234 3 # 125 -121.827775 36.795226 -112.263763 36122.441978 1 # 126 -121.829175 36.794911 -118.906016 36252.208069 1 # 127 -121.830837 36.795827 -132.145203 36431.988871 1 # 128 -121.835449 36.796758 -165.097371 36856.282941 1 # 129 -121.838624 36.796638 -188.728394 37139.828806 1 # 130 -121.840360 36.797855 -183.207031 37345.321702 1 # 131 -121.843068 36.798651 -195.268229 37602.536021 1 # 132 -121.845458 36.798666 -202.824036 37815.794000 1 # 133 -121.847531 36.799837 -213.085897 38041.832362 1 # 134 -121.850948 36.802045 -246.382446 38432.927846 1 # 135 -121.853861 36.804479 -262.803060 38807.652866 4 # # A total of 474 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 26100; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 335.620239; abortDepth = 360.620239; 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 = 1000; 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 135 # Segment length 67.257905 meters # Minimum depth: 262.803060 meters looking forward 0.000000 meters along route # Maximum depth: 262.803060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.803060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804479; longitude = -121.853861; captureRadius = 10; duration = 134; # abortOnTimeout = True; initialDepth = 220.555906; finalDepth = 212.803060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 212.80306 # Seafloor depth: -262.803060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 76.154681 meters # Minimum depth: 270.555906 meters looking forward 0.000000 meters along route # Maximum depth: 270.555906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.555906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804042; longitude = -121.853338; captureRadius = 10; duration = 152; initialDepth = 229.387090; finalDepth = 220.555906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 220.555906 # Seafloor depth: -270.555906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 76.332856 meters # Minimum depth: 279.387090 meters looking forward 0.000000 meters along route # Maximum depth: 279.387090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.387090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803547; longitude = -121.852746; captureRadius = 10; duration = 152; initialDepth = 225.551129; finalDepth = 229.387090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 229.38709 # Seafloor depth: -279.387090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 78.112428 meters # Minimum depth: 275.551129 meters looking forward 0.000000 meters along route # Maximum depth: 275.551129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.551129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803052; longitude = -121.852152; captureRadius = 10; duration = 156; initialDepth = 200.258509; finalDepth = 225.551129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 225.551129 # Seafloor depth: -275.551129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 76.867150 meters # Minimum depth: 250.258509 meters looking forward 0.000000 meters along route # Maximum depth: 250.258509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.258509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802545; longitude = -121.851545; captureRadius = 10; duration = 153; initialDepth = 196.382446; finalDepth = 200.258509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 200.258509 # Seafloor depth: -250.258509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 134 # Segment length 79.073380 meters # Minimum depth: 246.382446 meters looking forward 0.000000 meters along route # Maximum depth: 246.382446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.382446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802045; longitude = -121.850948; captureRadius = 10; duration = 158; # abortOnTimeout = True; initialDepth = 184.811147; finalDepth = 196.382446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 196.382446 # Seafloor depth: -246.382446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 77.896067 meters # Minimum depth: 234.811147 meters looking forward 0.000000 meters along route # Maximum depth: 234.811147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.811147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801599; longitude = -121.850257; captureRadius = 10; duration = 155; initialDepth = 174.440674; finalDepth = 184.811147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 184.811147 # Seafloor depth: -234.811147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 75.977285 meters # Minimum depth: 224.440674 meters looking forward 0.000000 meters along route # Maximum depth: 224.440674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.440674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801159; longitude = -121.849576; captureRadius = 10; duration = 151; initialDepth = 167.938238; finalDepth = 174.440674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.440674 # Seafloor depth: -224.440674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 76.937086 meters # Minimum depth: 217.938238 meters looking forward 0.000000 meters along route # Maximum depth: 217.938238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.938238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800730; longitude = -121.848912; captureRadius = 10; duration = 153; initialDepth = 158.273147; finalDepth = 167.938238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 167.938238 # Seafloor depth: -217.938238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 81.211666 meters # Minimum depth: 208.273147 meters looking forward 0.000000 meters along route # Maximum depth: 208.273147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.273147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800296; longitude = -121.848240; captureRadius = 10; duration = 162; initialDepth = 163.085897; finalDepth = 158.273147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 158.273147 # Seafloor depth: -208.273147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 133 # Segment length 69.236721 meters # Minimum depth: 213.085897 meters looking forward 0.000000 meters along route # Maximum depth: 213.085897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.085897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799837; longitude = -121.847531; captureRadius = 10; duration = 138; # abortOnTimeout = True; initialDepth = 155.695130; finalDepth = 163.085897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 163.085897 # Seafloor depth: -213.085897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 79.418869 meters # Minimum depth: 205.695130 meters looking forward 0.000000 meters along route # Maximum depth: 205.695130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.695130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799479; longitude = -121.846896; captureRadius = 10; duration = 158; initialDepth = 153.808157; finalDepth = 155.695130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 155.69513 # Seafloor depth: -205.695130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 133 # Segment length 77.382772 meters # Minimum depth: 203.808157 meters looking forward 0.000000 meters along route # Maximum depth: 203.808157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.808157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799067; longitude = -121.846167; captureRadius = 10; duration = 154; initialDepth = 152.824036; finalDepth = 153.808157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 153.808157 # Seafloor depth: -203.808157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 132 # Segment length 56.646635 meters # Minimum depth: 202.824036 meters looking forward 0.000000 meters along route # Maximum depth: 202.824036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.824036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798666; longitude = -121.845458; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 146.812610; finalDepth = 152.824036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 152.824036 # Seafloor depth: -202.824036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 79.971739 meters # Minimum depth: 196.812610 meters looking forward 0.000000 meters along route # Maximum depth: 196.812610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.812610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798662; longitude = -121.844823; captureRadius = 10; duration = 159; initialDepth = 146.030413; finalDepth = 146.812610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 146.81261 # Seafloor depth: -196.812610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 76.639605 meters # Minimum depth: 196.030413 meters looking forward 0.000000 meters along route # Maximum depth: 196.030413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.030413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798656; longitude = -121.843927; captureRadius = 10; duration = 153; initialDepth = 145.268229; finalDepth = 146.030413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 146.030413 # Seafloor depth: -196.030413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 131 # Segment length 99.337647 meters # Minimum depth: 195.268229 meters looking forward 0.000000 meters along route # Maximum depth: 195.268229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.268229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798651; longitude = -121.843068; captureRadius = 10; duration = 198; # abortOnTimeout = True; initialDepth = 136.509610; finalDepth = 145.268229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 145.268229 # Seafloor depth: -195.268229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 80.226802 meters # Minimum depth: 186.509610 meters looking forward 0.000000 meters along route # Maximum depth: 186.509610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.509610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798343; longitude = -121.842022; captureRadius = 10; duration = 160; initialDepth = 133.607046; finalDepth = 136.509610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 136.50961 # Seafloor depth: -186.509610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 131 # Segment length 77.649870 meters # Minimum depth: 183.607046 meters looking forward 0.000000 meters along route # Maximum depth: 183.607046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.607046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798095; longitude = -121.841178; captureRadius = 10; duration = 155; initialDepth = 133.207031; finalDepth = 133.607046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 133.607046 # Seafloor depth: -183.607046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 130 # Segment length 128.156636 meters # Minimum depth: 183.207031 meters looking forward 0.000000 meters along route # Maximum depth: 183.207031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.207031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797855; longitude = -121.840360; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 149.098076; finalDepth = 133.207031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 133.207031 # Seafloor depth: -183.207031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 77.336260 meters # Minimum depth: 199.098076 meters looking forward 0.000000 meters along route # Maximum depth: 199.098076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.098076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797096; longitude = -121.839277; captureRadius = 10; duration = 154; initialDepth = 138.728394; finalDepth = 149.098076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 149.098076 # Seafloor depth: -199.098076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 129 # Segment length 56.709192 meters # Minimum depth: 188.728394 meters looking forward 0.000000 meters along route # Maximum depth: 188.728394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.728394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796638; longitude = -121.838624; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 130.375079; finalDepth = 138.728394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 138.728394 # Seafloor depth: -188.728394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 75.056269 meters # Minimum depth: 180.375079 meters looking forward 0.000000 meters along route # Maximum depth: 180.375079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.375079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796662; longitude = -121.837989; captureRadius = 10; duration = 150; initialDepth = 129.267006; finalDepth = 130.375079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 130.375079 # Seafloor depth: -180.375079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 129 # Segment length 75.056252 meters # Minimum depth: 179.267006 meters looking forward 0.000000 meters along route # Maximum depth: 179.267006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.267006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796694; longitude = -121.837148; captureRadius = 10; duration = 150; initialDepth = 116.755044; finalDepth = 129.267006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 129.267006 # Seafloor depth: -179.267006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 129 # Segment length 76.724152 meters # Minimum depth: 166.755044 meters looking forward 0.000000 meters along route # Maximum depth: 166.755044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.755044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796726; longitude = -121.836308; captureRadius = 10; duration = 153; initialDepth = 115.097371; finalDepth = 116.755044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 116.755044 # Seafloor depth: -166.755044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 128 # Segment length 116.809177 meters # Minimum depth: 165.097371 meters looking forward 0.000000 meters along route # Maximum depth: 165.097371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.097371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796758; longitude = -121.835449; captureRadius = 10; duration = 233; # abortOnTimeout = True; initialDepth = 97.249983; finalDepth = 115.097371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.097371 # Seafloor depth: -165.097371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 77.300411 meters # Minimum depth: 147.249983 meters looking forward 0.000000 meters along route # Maximum depth: 147.249983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.249983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796502; longitude = -121.834179; captureRadius = 10; duration = 154; initialDepth = 91.647415; finalDepth = 97.249983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 97.249983 # Seafloor depth: -147.249983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 128 # Segment length 77.300585 meters # Minimum depth: 141.647415 meters looking forward 0.000000 meters along route # Maximum depth: 141.647415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.647415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796332; longitude = -121.833339; captureRadius = 10; duration = 154; initialDepth = 94.595562; finalDepth = 91.647415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 91.647415 # Seafloor depth: -141.647415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 128 # Segment length 77.300761 meters # Minimum depth: 144.595562 meters looking forward 0.000000 meters along route # Maximum depth: 144.595562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.595562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796162; longitude = -121.832499; captureRadius = 10; duration = 154; initialDepth = 90.914455; finalDepth = 94.595562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 94.595562 # Seafloor depth: -144.595562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 128 # Segment length 75.583136 meters # Minimum depth: 140.914455 meters looking forward 0.000000 meters along route # Maximum depth: 140.914455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.914455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795993; longitude = -121.831659; captureRadius = 10; duration = 151; initialDepth = 82.145203; finalDepth = 90.914455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 90.914455 # Seafloor depth: -140.914455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 127 # Segment length 103.152733 meters # Minimum depth: 132.145203 meters looking forward 0.000000 meters along route # Maximum depth: 132.145203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.145203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795827; longitude = -121.830837; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 63.594036; finalDepth = 82.145203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 82.145203 # Seafloor depth: -132.145203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 76.628069 meters # Minimum depth: 113.594036 meters looking forward 0.000000 meters along route # Maximum depth: 113.594036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.594036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795301; longitude = -121.829883; captureRadius = 10; duration = 153; initialDepth = 68.906016; finalDepth = 63.594036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 63.594036 # Seafloor depth: -113.594036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 126 # Segment length 129.766091 meters # Minimum depth: 118.906016 meters looking forward 0.000000 meters along route # Maximum depth: 118.906016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.906016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794911; longitude = -121.829175; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 62.263763; finalDepth = 68.906016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 68.906016 # Seafloor depth: -118.906016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 125 # Segment length 122.265448 meters # Minimum depth: 112.263763 meters looking forward 0.000000 meters along route # Maximum depth: 112.263763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.263763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795226; longitude = -121.827775; captureRadius = 10; duration = 244; # abortOnTimeout = True; initialDepth = 43.039307; finalDepth = 62.263763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 62.263763 # Seafloor depth: -112.263763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 75.804296 meters # Minimum depth: 93.039307 meters looking forward 0.000000 meters along route # Maximum depth: 93.039307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.039307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796033; longitude = -121.826841; captureRadius = 10; duration = 151; initialDepth = 36.442434; finalDepth = 43.039307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 43.039307 # Seafloor depth: -93.039307 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 113.133638 meters # Minimum depth: 86.442434 meters looking forward 0.000000 meters along route # Maximum depth: 86.442434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.442434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796533; longitude = -121.826262; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 70.562408; finalDepth = 36.442434; 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: 36.442434 # Seafloor depth: -86.442434 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 93.968888 meters # Minimum depth: 120.562408 meters looking forward 0.000000 meters along route # Maximum depth: 120.562408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.562408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795827; longitude = -121.825347; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 62.454669; finalDepth = 70.562408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 70.562408 # Seafloor depth: -120.562408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 78.330147 meters # Minimum depth: 112.454669 meters looking forward 0.000000 meters along route # Maximum depth: 112.454669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.454669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795245; longitude = -121.826113; captureRadius = 10; duration = 156; initialDepth = 75.978751; finalDepth = 62.454669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 62.454669 # Seafloor depth: -112.454669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 75.229530 meters # Minimum depth: 125.978751 meters looking forward 0.000000 meters along route # Maximum depth: 125.978751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.978751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794760; longitude = -121.826751; captureRadius = 10; duration = 150; initialDepth = 84.925415; finalDepth = 75.978751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 75.978751 # Seafloor depth: -125.978751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122 # Segment length 107.212793 meters # Minimum depth: 134.925415 meters looking forward 0.000000 meters along route # Maximum depth: 134.925415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.925415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794295; longitude = -121.827364; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 77.171100; finalDepth = 84.925415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 84.925415 # Seafloor depth: -134.925415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 79.545173 meters # Minimum depth: 127.171100 meters looking forward 0.000000 meters along route # Maximum depth: 127.171100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.171100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794036; longitude = -121.828522; captureRadius = 10; duration = 159; initialDepth = 86.434875; finalDepth = 77.171100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.1711 # Seafloor depth: -127.171100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 121 # Segment length 129.475418 meters # Minimum depth: 136.434875 meters looking forward 0.000000 meters along route # Maximum depth: 136.434875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.434875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793844; longitude = -121.829381; captureRadius = 10; duration = 258; # abortOnTimeout = True; initialDepth = 72.768181; finalDepth = 86.434875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 86.434875 # Seafloor depth: -136.434875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 76.627944 meters # Minimum depth: 122.768181 meters looking forward 0.000000 meters along route # Maximum depth: 122.768181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.768181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794580; longitude = -121.830507; captureRadius = 10; duration = 153; initialDepth = 85.261820; finalDepth = 72.768181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 72.768181 # Seafloor depth: -122.768181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 120 # Segment length 100.985896 meters # Minimum depth: 135.261820 meters looking forward 0.000000 meters along route # Maximum depth: 135.261820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.261820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795016; longitude = -121.831173; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 109.419671; finalDepth = 85.261820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 85.26182 # Seafloor depth: -135.261820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 77.022950 meters # Minimum depth: 159.419671 meters looking forward 0.000000 meters along route # Maximum depth: 159.419671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.419671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795224; longitude = -121.832275; captureRadius = 10; duration = 154; initialDepth = 115.735863; finalDepth = 109.419671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 109.419671 # Seafloor depth: -159.419671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 77.022784 meters # Minimum depth: 165.735863 meters looking forward 0.000000 meters along route # Maximum depth: 165.735863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.735863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795383; longitude = -121.833115; captureRadius = 10; duration = 154; initialDepth = 107.916365; finalDepth = 115.735863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.735863 # Seafloor depth: -165.735863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 77.022619 meters # Minimum depth: 157.916365 meters looking forward 0.000000 meters along route # Maximum depth: 157.916365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.916365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795542; longitude = -121.833955; captureRadius = 10; duration = 154; initialDepth = 113.545893; finalDepth = 107.916365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 107.916365 # Seafloor depth: -157.916365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 75.310844 meters # Minimum depth: 163.545893 meters looking forward 0.000000 meters along route # Maximum depth: 163.545893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.545893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795701; longitude = -121.834796; captureRadius = 10; duration = 150; initialDepth = 125.648234; finalDepth = 113.545893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 113.545893 # Seafloor depth: -163.545893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 119 # Segment length 101.715366 meters # Minimum depth: 175.648234 meters looking forward 0.000000 meters along route # Maximum depth: 175.648234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.648234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795857; longitude = -121.835617; captureRadius = 10; duration = 203; # abortOnTimeout = True; initialDepth = 136.610795; finalDepth = 125.648234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 125.648234 # Seafloor depth: -175.648234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 75.035940 meters # Minimum depth: 186.610795 meters looking forward 0.000000 meters along route # Maximum depth: 186.610795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.610795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795820; longitude = -121.836756; captureRadius = 10; duration = 150; initialDepth = 149.323496; finalDepth = 136.610795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 136.610795 # Seafloor depth: -186.610795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 75.035953 meters # Minimum depth: 199.323496 meters looking forward 0.000000 meters along route # Maximum depth: 199.323496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.323496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795792; longitude = -121.837597; captureRadius = 10; duration = 150; initialDepth = 155.070120; finalDepth = 149.323496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 149.323496 # Seafloor depth: -199.323496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 76.703431 meters # Minimum depth: 205.070120 meters looking forward 0.000000 meters along route # Maximum depth: 205.070120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.070120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795765; longitude = -121.838437; captureRadius = 10; duration = 153; initialDepth = 166.013143; finalDepth = 155.070120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 155.07012 # Seafloor depth: -205.070120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 118 # Segment length 117.654914 meters # Minimum depth: 216.013143 meters looking forward 0.000000 meters along route # Maximum depth: 216.013143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.013143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795737; longitude = -121.839296; captureRadius = 10; duration = 235; # abortOnTimeout = True; initialDepth = 157.418161; finalDepth = 166.013143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 166.013143 # Seafloor depth: -216.013143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 76.927909 meters # Minimum depth: 207.418161 meters looking forward 0.000000 meters along route # Maximum depth: 207.418161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.418161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796518; longitude = -121.840188; captureRadius = 10; duration = 153; initialDepth = 144.837423; finalDepth = 157.418161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 157.418161 # Seafloor depth: -207.418161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 117 # Segment length 103.885526 meters # Minimum depth: 194.837423 meters looking forward 0.000000 meters along route # Maximum depth: 194.837423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.837423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797029; longitude = -121.840771; captureRadius = 10; duration = 207; # abortOnTimeout = True; initialDepth = 146.778227; finalDepth = 144.837423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 144.837423 # Seafloor depth: -194.837423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.227184 meters # Minimum depth: 196.778227 meters looking forward 0.000000 meters along route # Maximum depth: 196.778227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.778227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797372; longitude = -121.841854; captureRadius = 10; duration = 150; initialDepth = 153.033501; finalDepth = 146.778227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 146.778227 # Seafloor depth: -196.778227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.226960 meters # Minimum depth: 203.033501 meters looking forward 0.000000 meters along route # Maximum depth: 203.033501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.033501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797621; longitude = -121.842638; captureRadius = 10; duration = 150; initialDepth = 162.419255; finalDepth = 153.033501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 153.033501 # Seafloor depth: -203.033501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.017846 meters # Minimum depth: 212.419255 meters looking forward 0.000000 meters along route # Maximum depth: 212.419255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.419255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797870; longitude = -121.843423; captureRadius = 10; duration = 154; initialDepth = 156.018331; finalDepth = 162.419255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 162.419255 # Seafloor depth: -212.419255 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 62.173214 meters # Minimum depth: 206.018331 meters looking forward 0.000000 meters along route # Maximum depth: 206.018331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.018331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798125; longitude = -121.844225; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 172.700452; finalDepth = 156.018331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.018331 # Seafloor depth: -206.018331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.773731 meters # Minimum depth: 222.700452 meters looking forward 0.000000 meters along route # Maximum depth: 222.700452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.700452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797644; longitude = -121.844584; captureRadius = 10; duration = 151; initialDepth = 184.061861; finalDepth = 172.700452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 172.700452 # Seafloor depth: -222.700452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.773871 meters # Minimum depth: 234.061861 meters looking forward 0.000000 meters along route # Maximum depth: 234.061861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.061861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797059; longitude = -121.845020; captureRadius = 10; duration = 151; initialDepth = 190.748904; finalDepth = 184.061861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 184.061861 # Seafloor depth: -234.061861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774011 meters # Minimum depth: 240.748904 meters looking forward 0.000000 meters along route # Maximum depth: 240.748904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.748904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796473; longitude = -121.845457; captureRadius = 10; duration = 151; initialDepth = 191.627778; finalDepth = 190.748904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 190.748904 # Seafloor depth: -240.748904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774151 meters # Minimum depth: 241.627778 meters looking forward 0.000000 meters along route # Maximum depth: 241.627778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.627778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795887; longitude = -121.845894; captureRadius = 10; duration = 151; initialDepth = 222.081148; finalDepth = 191.627778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 191.627778 # Seafloor depth: -241.627778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774290 meters # Minimum depth: 272.081148 meters looking forward 0.000000 meters along route # Maximum depth: 272.081148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.081148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795301; longitude = -121.846330; captureRadius = 10; duration = 151; initialDepth = 243.862211; finalDepth = 222.081148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 222.081148 # Seafloor depth: -272.081148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774430 meters # Minimum depth: 293.862211 meters looking forward 0.000000 meters along route # Maximum depth: 293.862211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.862211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794715; longitude = -121.846767; captureRadius = 10; duration = 151; initialDepth = 248.111076; finalDepth = 243.862211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 243.862211 # Seafloor depth: -293.862211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774570 meters # Minimum depth: 298.111076 meters looking forward 0.000000 meters along route # Maximum depth: 298.111076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 248.111076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794130; longitude = -121.847204; captureRadius = 10; duration = 151; initialDepth = 245.543181; finalDepth = 248.111076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 248.111076 # Seafloor depth: -298.111076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774709 meters # Minimum depth: 295.543181 meters looking forward 0.000000 meters along route # Maximum depth: 295.543181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.543181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793544; longitude = -121.847640; captureRadius = 10; duration = 151; initialDepth = 204.285561; finalDepth = 245.543181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 245.543181 # Seafloor depth: -295.543181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774849 meters # Minimum depth: 254.285561 meters looking forward 0.000000 meters along route # Maximum depth: 254.285561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.285561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792958; longitude = -121.848077; captureRadius = 10; duration = 151; initialDepth = 182.234694; finalDepth = 204.285561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 204.285561 # Seafloor depth: -254.285561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.774989 meters # Minimum depth: 232.234694 meters looking forward 0.000000 meters along route # Maximum depth: 232.234694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.234694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792372; longitude = -121.848514; captureRadius = 10; duration = 151; initialDepth = 180.021996; finalDepth = 182.234694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 182.234694 # Seafloor depth: -232.234694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.775128 meters # Minimum depth: 230.021996 meters looking forward 0.000000 meters along route # Maximum depth: 230.021996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.021996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791786; longitude = -121.848950; captureRadius = 10; duration = 151; initialDepth = 150.807221; finalDepth = 180.021996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.021996 # Seafloor depth: -230.021996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.661184 meters # Minimum depth: 200.807221 meters looking forward 0.000000 meters along route # Maximum depth: 200.807221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.807221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791201; longitude = -121.849387; captureRadius = 10; duration = 159; initialDepth = 145.516296; finalDepth = 150.807221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 150.807221 # Seafloor depth: -200.807221 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 133.432944 meters # Minimum depth: 195.516296 meters looking forward 0.000000 meters along route # Maximum depth: 195.516296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.516296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790585; longitude = -121.849846; captureRadius = 10; duration = 266; # abortOnTimeout = True; initialDepth = 133.034500; finalDepth = 145.516296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 145.516296 # Seafloor depth: -195.516296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.980558 meters # Minimum depth: 183.034500 meters looking forward 0.000000 meters along route # Maximum depth: 183.034500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.034500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790254; longitude = -121.848408; captureRadius = 10; duration = 155; initialDepth = 123.049874; finalDepth = 133.034500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 133.0345 # Seafloor depth: -183.034500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.980753 meters # Minimum depth: 173.049874 meters looking forward 0.000000 meters along route # Maximum depth: 173.049874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.049874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790061; longitude = -121.847568; captureRadius = 10; duration = 155; initialDepth = 121.845834; finalDepth = 123.049874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 123.049874 # Seafloor depth: -173.049874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.980949 meters # Minimum depth: 171.845834 meters looking forward 0.000000 meters along route # Maximum depth: 171.845834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.845834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789868; longitude = -121.846728; captureRadius = 10; duration = 155; initialDepth = 126.954718; finalDepth = 121.845834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 121.845834 # Seafloor depth: -171.845834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.381769 meters # Minimum depth: 176.954718 meters looking forward 0.000000 meters along route # Maximum depth: 176.954718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.954718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789675; longitude = -121.845887; captureRadius = 10; duration = 150; initialDepth = 134.080399; finalDepth = 126.954718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 126.954718 # Seafloor depth: -176.954718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.381953 meters # Minimum depth: 184.080399 meters looking forward 0.000000 meters along route # Maximum depth: 184.080399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.080399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789488; longitude = -121.845075; captureRadius = 10; duration = 150; initialDepth = 138.566923; finalDepth = 134.080399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 134.080399 # Seafloor depth: -184.080399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.248598 meters # Minimum depth: 188.566923 meters looking forward 0.000000 meters along route # Maximum depth: 188.566923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.566923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789302; longitude = -121.844263; captureRadius = 10; duration = 152; initialDepth = 129.834473; finalDepth = 138.566923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 138.566923 # Seafloor depth: -188.566923 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 65.380735 meters # Minimum depth: 179.834473 meters looking forward 0.000000 meters along route # Maximum depth: 179.834473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.834473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789113; longitude = -121.843441; captureRadius = 10; duration = 130; # abortOnTimeout = True; initialDepth = 156.597416; finalDepth = 129.834473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 129.834473 # Seafloor depth: -179.834473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.439257 meters # Minimum depth: 206.597416 meters looking forward 0.000000 meters along route # Maximum depth: 206.597416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.597416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789669; longitude = -121.843198; captureRadius = 10; duration = 150; initialDepth = 171.723948; finalDepth = 156.597416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.597416 # Seafloor depth: -206.597416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.439199 meters # Minimum depth: 221.723948 meters looking forward 0.000000 meters along route # Maximum depth: 221.723948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.723948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790310; longitude = -121.842918; captureRadius = 10; duration = 150; initialDepth = 181.350388; finalDepth = 171.723948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 171.723948 # Seafloor depth: -221.723948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.439142 meters # Minimum depth: 231.350388 meters looking forward 0.000000 meters along route # Maximum depth: 231.350388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.350388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790952; longitude = -121.842638; captureRadius = 10; duration = 150; initialDepth = 216.528237; finalDepth = 181.350388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 181.350388 # Seafloor depth: -231.350388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.665241 meters # Minimum depth: 268.728082 meters looking forward 0.000000 meters along route # Maximum depth: 268.728082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.528237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791594; longitude = -121.842358; captureRadius = 10; duration = 151; initialDepth = 232.119163; finalDepth = 216.528237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1998450443467 # Actual altitude: 52.1998450443467 # Commanded vehicle depth: 216.528236955653 # Seafloor depth: -268.728082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 75.212873 meters # Minimum depth: 282.119163 meters looking forward 0.000000 meters along route # Maximum depth: 282.119163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.119163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792237; longitude = -121.842077; captureRadius = 10; duration = 150; initialDepth = 228.094898; finalDepth = 232.119163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1998450443467 # Actual altitude: 52.1998450443467 # Commanded vehicle depth: 232.119163 # Seafloor depth: -282.119163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 75.438971 meters # Minimum depth: 278.094898 meters looking forward 0.000000 meters along route # Maximum depth: 278.094898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.094898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792877; longitude = -121.841798; captureRadius = 10; duration = 150; initialDepth = 215.603392; finalDepth = 228.094898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 228.094898 # Seafloor depth: -278.094898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.438913 meters # Minimum depth: 265.603392 meters looking forward 0.000000 meters along route # Maximum depth: 265.603392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.603392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793518; longitude = -121.841518; captureRadius = 10; duration = 150; initialDepth = 190.991472; finalDepth = 215.603392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 215.603392 # Seafloor depth: -265.603392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.923475 meters # Minimum depth: 240.991472 meters looking forward 0.000000 meters along route # Maximum depth: 240.991472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.991472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794160; longitude = -121.841238; captureRadius = 10; duration = 151; initialDepth = 177.058379; finalDepth = 190.991472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 190.991472 # Seafloor depth: -240.991472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.477277 meters # Minimum depth: 227.058379 meters looking forward 0.000000 meters along route # Maximum depth: 227.058379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.058379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794806; longitude = -121.840956; captureRadius = 10; duration = 158; initialDepth = 173.652259; finalDepth = 177.058379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 177.058379 # Seafloor depth: -227.058379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.944894 meters # Minimum depth: 223.652259 meters looking forward 0.000000 meters along route # Maximum depth: 223.652259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.652259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795481; longitude = -121.840661; captureRadius = 10; duration = 151; initialDepth = 164.449422; finalDepth = 173.652259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 173.652259 # Seafloor depth: -223.652259 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 69.682001 meters # Minimum depth: 214.449422 meters looking forward 0.000000 meters along route # Maximum depth: 214.449422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.449422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796127; longitude = -121.840379; captureRadius = 10; duration = 139; # abortOnTimeout = True; initialDepth = 156.876363; finalDepth = 164.449422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 164.449422 # Seafloor depth: -214.449422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.653361 meters # Minimum depth: 206.876363 meters looking forward 0.000000 meters along route # Maximum depth: 206.876363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.876363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796311; longitude = -121.841126; captureRadius = 10; duration = 157; initialDepth = 154.242552; finalDepth = 156.876363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.876363 # Seafloor depth: -206.876363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.872581 meters # Minimum depth: 204.242552 meters looking forward 0.000000 meters along route # Maximum depth: 204.242552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.242552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796518; longitude = -121.841969; captureRadius = 10; duration = 159; initialDepth = 154.813680; finalDepth = 154.242552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.242552 # Seafloor depth: -204.242552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 98.497723 meters # Minimum depth: 204.813680 meters looking forward 0.000000 meters along route # Maximum depth: 204.813680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.813680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796728; longitude = -121.842825; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 169.519445; finalDepth = 154.813680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.81368 # Seafloor depth: -204.813680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.171288 meters # Minimum depth: 219.519445 meters looking forward 0.000000 meters along route # Maximum depth: 219.519445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.519445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797104; longitude = -121.843825; captureRadius = 10; duration = 152; initialDepth = 178.581921; finalDepth = 169.519445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 169.519445 # Seafloor depth: -219.519445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.484330 meters # Minimum depth: 228.581921 meters looking forward 0.000000 meters along route # Maximum depth: 228.581921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.581921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797394; longitude = -121.844599; captureRadius = 10; duration = 154; initialDepth = 163.132868; finalDepth = 178.581921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.581921 # Seafloor depth: -228.581921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.797360 meters # Minimum depth: 213.132868 meters looking forward 0.000000 meters along route # Maximum depth: 213.132868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.132868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797689; longitude = -121.845386; captureRadius = 10; duration = 157; initialDepth = 171.486735; finalDepth = 163.132868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 163.132868 # Seafloor depth: -213.132868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 78.401161 meters # Minimum depth: 221.486735 meters looking forward 0.000000 meters along route # Maximum depth: 221.486735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.486735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797990; longitude = -121.846186; captureRadius = 10; duration = 156; # abortOnTimeout = True; initialDepth = 182.991807; finalDepth = 171.486735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 171.486735 # Seafloor depth: -221.486735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.264845 meters # Minimum depth: 232.991807 meters looking forward 0.000000 meters along route # Maximum depth: 232.991807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.991807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798365; longitude = -121.846930; captureRadius = 10; duration = 150; initialDepth = 187.278785; finalDepth = 182.991807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 182.991807 # Seafloor depth: -232.991807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.400600 meters # Minimum depth: 237.278785 meters looking forward 0.000000 meters along route # Maximum depth: 237.278785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.278785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798726; longitude = -121.847645; captureRadius = 10; duration = 156; initialDepth = 189.249939; finalDepth = 187.278785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.278785 # Seafloor depth: -237.278785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 132.472312 meters # Minimum depth: 239.249939 meters looking forward 0.000000 meters along route # Maximum depth: 239.249939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.249939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799101; longitude = -121.848390; captureRadius = 10; duration = 264; # abortOnTimeout = True; initialDepth = 187.895793; finalDepth = 189.249939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 189.249939 # Seafloor depth: -239.249939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.339656 meters # Minimum depth: 237.895793 meters looking forward 0.000000 meters along route # Maximum depth: 237.895793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.895793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799988; longitude = -121.849385; captureRadius = 10; duration = 152; initialDepth = 189.936829; finalDepth = 187.895793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.895793 # Seafloor depth: -237.895793 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 92.742814 meters # Minimum depth: 239.936829 meters looking forward 0.000000 meters along route # Maximum depth: 239.936829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.936829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800498; longitude = -121.849958; captureRadius = 10; duration = 185; # abortOnTimeout = True; initialDepth = 207.185078; finalDepth = 189.936829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 189.936829 # Seafloor depth: -239.936829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.513079 meters # Minimum depth: 257.185078 meters looking forward 0.000000 meters along route # Maximum depth: 257.185078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.185078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799917; longitude = -121.850705; captureRadius = 10; duration = 153; initialDepth = 218.171606; finalDepth = 207.185078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 207.185078 # Seafloor depth: -257.185078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.540208 meters # Minimum depth: 268.171606 meters looking forward 0.000000 meters along route # Maximum depth: 268.171606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.171606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799437; longitude = -121.851321; captureRadius = 10; duration = 155; initialDepth = 231.285688; finalDepth = 218.171606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 218.171606 # Seafloor depth: -268.171606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.486649 meters # Minimum depth: 281.285688 meters looking forward 0.000000 meters along route # Maximum depth: 281.285688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.285688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798951; longitude = -121.851946; captureRadius = 10; duration = 150; initialDepth = 245.274223; finalDepth = 231.285688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 231.285688 # Seafloor depth: -281.285688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.513777 meters # Minimum depth: 295.274223 meters looking forward 0.000000 meters along route # Maximum depth: 295.274223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.274223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798478; longitude = -121.852554; captureRadius = 10; duration = 153; initialDepth = 260.033562; finalDepth = 245.274223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 245.274223 # Seafloor depth: -295.274223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.025305 meters # Minimum depth: 310.033562 meters looking forward 0.000000 meters along route # Maximum depth: 310.033562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.033562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797998; longitude = -121.853170; captureRadius = 10; duration = 156; initialDepth = 271.391904; finalDepth = 260.033562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 260.033562 # Seafloor depth: -310.033562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.002949 meters # Minimum depth: 321.391904 meters looking forward 0.000000 meters along route # Maximum depth: 321.391904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.391904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797509; longitude = -121.853798; captureRadius = 10; duration = 150; initialDepth = 259.681502; finalDepth = 271.391904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.391904 # Seafloor depth: -321.391904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.514476 meters # Minimum depth: 309.681502 meters looking forward 0.000000 meters along route # Maximum depth: 309.681502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.681502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797039; longitude = -121.854402; captureRadius = 10; duration = 153; initialDepth = 209.896578; finalDepth = 259.681502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 259.681502 # Seafloor depth: -309.681502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.514709 meters # Minimum depth: 259.896578 meters looking forward 0.000000 meters along route # Maximum depth: 259.896578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.896578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796559; longitude = -121.855018; captureRadius = 10; duration = 153; initialDepth = 204.842255; finalDepth = 209.896578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 209.896578 # Seafloor depth: -259.896578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.514942 meters # Minimum depth: 254.842255 meters looking forward 0.000000 meters along route # Maximum depth: 254.842255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.842255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796080; longitude = -121.855635; captureRadius = 10; duration = 153; initialDepth = 204.931973; finalDepth = 204.842255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 204.842255 # Seafloor depth: -254.842255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.833820 meters # Minimum depth: 254.931973 meters looking forward 0.000000 meters along route # Maximum depth: 254.931973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.931973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795600; longitude = -121.856251; captureRadius = 10; duration = 157; initialDepth = 196.187500; finalDepth = 204.931973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 204.931973 # Seafloor depth: -254.931973 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 74.978331 meters # Minimum depth: 246.187500 meters looking forward 0.000000 meters along route # Maximum depth: 246.187500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.187500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795106; longitude = -121.856886; captureRadius = 10; duration = 149; # abortOnTimeout = True; initialDepth = 210.107459; finalDepth = 196.187500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 196.1875 # Seafloor depth: -246.187500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.106217 meters # Minimum depth: 260.107459 meters looking forward 0.000000 meters along route # Maximum depth: 260.107459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.107459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795617; longitude = -121.857436; captureRadius = 10; duration = 150; initialDepth = 228.319511; finalDepth = 210.107459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 210.107459 # Seafloor depth: -260.107459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.055017 meters # Minimum depth: 278.319511 meters looking forward 0.000000 meters along route # Maximum depth: 278.319511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.319511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796128; longitude = -121.857987; captureRadius = 10; duration = 154; initialDepth = 234.725521; finalDepth = 228.319511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 228.319511 # Seafloor depth: -278.319511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.572436 meters # Minimum depth: 284.725521 meters looking forward 0.000000 meters along route # Maximum depth: 284.725521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.725521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796653; longitude = -121.858553; captureRadius = 10; duration = 151; initialDepth = 239.608979; finalDepth = 234.725521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 234.725521 # Seafloor depth: -284.725521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.587894 meters # Minimum depth: 289.608979 meters looking forward 0.000000 meters along route # Maximum depth: 289.608979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.608979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797168; longitude = -121.859108; captureRadius = 10; duration = 153; initialDepth = 262.946151; finalDepth = 239.608979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 239.608979 # Seafloor depth: -289.608979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.038651 meters # Minimum depth: 312.946151 meters looking forward 0.000000 meters along route # Maximum depth: 312.946151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.946151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797689; longitude = -121.859670; captureRadius = 10; duration = 152; initialDepth = 281.057996; finalDepth = 262.946151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 262.946151 # Seafloor depth: -312.946151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.312932 meters # Minimum depth: 331.057996 meters looking forward 0.000000 meters along route # Maximum depth: 331.057996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.057996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798207; longitude = -121.860228; captureRadius = 10; duration = 152; initialDepth = 305.463099; finalDepth = 281.057996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 281.057996 # Seafloor depth: -331.057996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 81.400210 meters # Minimum depth: 355.463099 meters looking forward 0.000000 meters along route # Maximum depth: 355.463099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.463099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798727; longitude = -121.860788; captureRadius = 10; duration = 162; initialDepth = 310.620239; finalDepth = 305.463099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 305.463099 # Seafloor depth: -355.463099 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 119.982445 meters # Minimum depth: 360.620239 meters looking forward 0.000000 meters along route # Maximum depth: 360.620239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.620239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799282; longitude = -121.861386; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 306.730998; finalDepth = 310.620239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 310.620239 # Seafloor depth: -360.620239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 134.318891 meters # Minimum depth: 356.730998 meters looking forward 0.000000 meters along route # Maximum depth: 356.730998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.730998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800363; longitude = -121.861386; captureRadius = 10; duration = 268; # abortOnTimeout = True; initialDepth = 302.544352; finalDepth = 306.730998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 306.730998 # Seafloor depth: -356.730998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 63.695011 meters # Minimum depth: 352.544352 meters looking forward 0.000000 meters along route # Maximum depth: 352.544352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.544352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801550; longitude = -121.861087; captureRadius = 10; duration = 127; # abortOnTimeout = True; initialDepth = 301.092635; finalDepth = 302.544352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 302.544352 # Seafloor depth: -352.544352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.745391 meters # Minimum depth: 351.092635 meters looking forward 0.000000 meters along route # Maximum depth: 351.092635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.092635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802105; longitude = -121.860908; captureRadius = 10; duration = 151; initialDepth = 301.120565; finalDepth = 301.092635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 301.092635 # Seafloor depth: -351.092635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 86.825330 meters # Minimum depth: 351.120565 meters looking forward 0.000000 meters along route # Maximum depth: 351.120565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.120565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802766; longitude = -121.860695; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 298.641254; finalDepth = 301.120565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 301.120565 # Seafloor depth: -351.120565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.971978 meters # Minimum depth: 348.641254 meters looking forward 0.000000 meters along route # Maximum depth: 348.641254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.641254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803007; longitude = -121.859769; captureRadius = 10; duration = 151; initialDepth = 293.349691; finalDepth = 298.641254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 298.641254 # Seafloor depth: -348.641254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103 # Segment length 130.292339 meters # Minimum depth: 343.349691 meters looking forward 0.000000 meters along route # Maximum depth: 343.349691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.349691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803217; longitude = -121.858958; captureRadius = 10; duration = 260; # abortOnTimeout = True; initialDepth = 260.921027; finalDepth = 293.349691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 293.349691 # Seafloor depth: -343.349691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.146591 meters # Minimum depth: 310.921027 meters looking forward 0.000000 meters along route # Maximum depth: 310.921027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.921027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803494; longitude = -121.857539; captureRadius = 10; duration = 154; initialDepth = 243.759057; finalDepth = 260.921027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 260.921027 # Seafloor depth: -310.921027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.146449 meters # Minimum depth: 293.759057 meters looking forward 0.000000 meters along route # Maximum depth: 293.759057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.759057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803658; longitude = -121.856699; captureRadius = 10; duration = 154; initialDepth = 240.278469; finalDepth = 243.759057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 243.759057 # Seafloor depth: -293.759057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.431948 meters # Minimum depth: 290.278469 meters looking forward 0.000000 meters along route # Maximum depth: 290.278469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.278469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803823; longitude = -121.855859; captureRadius = 10; duration = 150; initialDepth = 227.502726; finalDepth = 240.278469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.278469 # Seafloor depth: -290.278469 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 118.565475 meters # Minimum depth: 277.502726 meters looking forward 0.000000 meters along route # Maximum depth: 277.502726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.502726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803983; longitude = -121.855037; captureRadius = 10; duration = 237; # abortOnTimeout = True; initialDepth = 236.039824; finalDepth = 227.502726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.502726 # Seafloor depth: -277.502726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.243797 meters # Minimum depth: 286.039824 meters looking forward 0.000000 meters along route # Maximum depth: 286.039824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.039824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803253; longitude = -121.854066; captureRadius = 10; duration = 150; initialDepth = 227.963142; finalDepth = 236.039824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 236.039824 # Seafloor depth: -286.039824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.244046 meters # Minimum depth: 277.963142 meters looking forward 0.000000 meters along route # Maximum depth: 277.963142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.963142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802790; longitude = -121.853450; captureRadius = 10; duration = 150; initialDepth = 214.651492; finalDepth = 227.963142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.963142 # Seafloor depth: -277.963142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.524429 meters # Minimum depth: 264.651492 meters looking forward 0.000000 meters along route # Maximum depth: 264.651492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.651492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802327; longitude = -121.852834; captureRadius = 10; duration = 155; initialDepth = 217.752197; finalDepth = 214.651492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 214.651492 # Seafloor depth: -264.651492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 97.836553 meters # Minimum depth: 267.752197 meters looking forward 0.000000 meters along route # Maximum depth: 267.752197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.752197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801850; longitude = -121.852199; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 210.717616; finalDepth = 217.752197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 217.752197 # Seafloor depth: -267.752197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.600859 meters # Minimum depth: 260.717616 meters looking forward 0.000000 meters along route # Maximum depth: 260.717616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.717616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801114; longitude = -121.851595; captureRadius = 10; duration = 161; initialDepth = 201.021640; finalDepth = 210.717616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 210.717616 # Seafloor depth: -260.717616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.139556 meters # Minimum depth: 251.021640 meters looking forward 0.000000 meters along route # Maximum depth: 251.021640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.021640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800508; longitude = -121.851097; captureRadius = 10; duration = 150; initialDepth = 205.759861; finalDepth = 201.021640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 201.02164 # Seafloor depth: -251.021640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.103727 meters # Minimum depth: 255.759861 meters looking forward 0.000000 meters along route # Maximum depth: 255.759861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.759861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799943; longitude = -121.850633; captureRadius = 10; duration = 158; initialDepth = 206.364115; finalDepth = 205.759861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 205.759861 # Seafloor depth: -255.759861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.634107 meters # Minimum depth: 256.364115 meters looking forward 0.000000 meters along route # Maximum depth: 256.364115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.364115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799347; longitude = -121.850145; captureRadius = 10; duration = 157; initialDepth = 199.418905; finalDepth = 206.364115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 206.364115 # Seafloor depth: -256.364115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100 # Segment length 57.331459 meters # Minimum depth: 249.418905 meters looking forward 0.000000 meters along route # Maximum depth: 249.418905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.418905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798756; longitude = -121.849659; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 200.464767; finalDepth = 199.418905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 199.418905 # Seafloor depth: -249.418905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.397713 meters # Minimum depth: 250.464767 meters looking forward 0.000000 meters along route # Maximum depth: 250.464767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.464767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798456; longitude = -121.849136; captureRadius = 10; duration = 154; initialDepth = 202.482684; finalDepth = 200.464767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 200.464767 # Seafloor depth: -250.464767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.169453 meters # Minimum depth: 252.482684 meters looking forward 0.000000 meters along route # Maximum depth: 252.482684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.482684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798050; longitude = -121.848431; captureRadius = 10; duration = 152; initialDepth = 199.182508; finalDepth = 202.482684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 202.482684 # Seafloor depth: -252.482684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.760210 meters # Minimum depth: 249.182508 meters looking forward 0.000000 meters along route # Maximum depth: 249.182508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.182508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797651; longitude = -121.847736; captureRadius = 10; duration = 151; initialDepth = 188.023560; finalDepth = 199.182508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 199.182508 # Seafloor depth: -249.182508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 74.915490 meters # Minimum depth: 238.023560 meters looking forward 0.000000 meters along route # Maximum depth: 238.023560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.023560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797254; longitude = -121.847045; captureRadius = 10; duration = 149; # abortOnTimeout = True; initialDepth = 185.706842; finalDepth = 188.023560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 188.02356 # Seafloor depth: -238.023560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.742942 meters # Minimum depth: 235.706842 meters looking forward 0.000000 meters along route # Maximum depth: 235.706842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.706842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796977; longitude = -121.846279; captureRadius = 10; duration = 153; initialDepth = 191.467916; finalDepth = 185.706842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 185.706842 # Seafloor depth: -235.706842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.743192 meters # Minimum depth: 241.467916 meters looking forward 0.000000 meters along route # Maximum depth: 241.467916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.467916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796693; longitude = -121.845495; captureRadius = 10; duration = 153; initialDepth = 175.879761; finalDepth = 191.467916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 191.467916 # Seafloor depth: -241.467916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.032450 meters # Minimum depth: 225.879761 meters looking forward 0.000000 meters along route # Maximum depth: 225.879761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.879761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796409; longitude = -121.844711; captureRadius = 10; duration = 160; initialDepth = 166.332584; finalDepth = 175.879761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 175.879761 # Seafloor depth: -225.879761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.109146 meters # Minimum depth: 216.332584 meters looking forward 0.000000 meters along route # Maximum depth: 216.332584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.332584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796112; longitude = -121.843893; captureRadius = 10; duration = 154; initialDepth = 165.785706; finalDepth = 166.332584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 166.332584 # Seafloor depth: -216.332584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59.797151 meters # Minimum depth: 215.785706 meters looking forward 0.000000 meters along route # Maximum depth: 215.785706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.785706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795827; longitude = -121.843105; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 167.301988; finalDepth = 165.785706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 165.785706 # Seafloor depth: -215.785706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.143487 meters # Minimum depth: 217.301988 meters looking forward 0.000000 meters along route # Maximum depth: 217.301988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.301988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795654; longitude = -121.842470; captureRadius = 10; duration = 158; initialDepth = 170.610135; finalDepth = 167.301988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 167.301988 # Seafloor depth: -217.301988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.143712 meters # Minimum depth: 220.610135 meters looking forward 0.000000 meters along route # Maximum depth: 220.610135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.610135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795426; longitude = -121.841630; captureRadius = 10; duration = 158; initialDepth = 174.508545; finalDepth = 170.610135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.610135 # Seafloor depth: -220.610135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.143937 meters # Minimum depth: 224.508545 meters looking forward 0.000000 meters along route # Maximum depth: 224.508545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.508545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795197; longitude = -121.840790; captureRadius = 10; duration = 158; initialDepth = 170.741118; finalDepth = 174.508545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.508545 # Seafloor depth: -224.508545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.385402 meters # Minimum depth: 220.741118 meters looking forward 0.000000 meters along route # Maximum depth: 220.741118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.741118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794969; longitude = -121.839949; captureRadius = 10; duration = 154; initialDepth = 169.320516; finalDepth = 170.741118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.741118 # Seafloor depth: -220.741118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 61.792684 meters # Minimum depth: 219.320516 meters looking forward 0.000000 meters along route # Maximum depth: 219.320516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.320516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794745; longitude = -121.839128; captureRadius = 10; duration = 123; # abortOnTimeout = True; initialDepth = 168.226951; finalDepth = 169.320516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 169.320516 # Seafloor depth: -219.320516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.153236 meters # Minimum depth: 218.226951 meters looking forward 0.000000 meters along route # Maximum depth: 218.226951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.226951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794784; longitude = -121.838437; captureRadius = 10; duration = 150; initialDepth = 162.747066; finalDepth = 168.226951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 168.226951 # Seafloor depth: -218.226951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.153205 meters # Minimum depth: 212.747066 meters looking forward 0.000000 meters along route # Maximum depth: 212.747066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.747066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794830; longitude = -121.837597; captureRadius = 10; duration = 150; initialDepth = 150.509055; finalDepth = 162.747066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 162.747066 # Seafloor depth: -212.747066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.493314 meters # Minimum depth: 200.509055 meters looking forward 0.000000 meters along route # Maximum depth: 200.509055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.509055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794877; longitude = -121.836756; captureRadius = 10; duration = 156; initialDepth = 131.370728; finalDepth = 150.509055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 150.509055 # Seafloor depth: -200.509055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 89.558902 meters # Minimum depth: 181.370728 meters looking forward 0.000000 meters along route # Maximum depth: 181.370728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.370728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794926; longitude = -121.835879; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 122.780624; finalDepth = 131.370728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 131.370728 # Seafloor depth: -181.370728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.503091 meters # Minimum depth: 172.780624 meters looking forward 0.000000 meters along route # Maximum depth: 172.780624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.780624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794721; longitude = -121.834908; captureRadius = 10; duration = 155; initialDepth = 127.274176; finalDepth = 122.780624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 122.780624 # Seafloor depth: -172.780624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.503274 meters # Minimum depth: 177.274176 meters looking forward 0.000000 meters along route # Maximum depth: 177.274176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.274176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794544; longitude = -121.834067; captureRadius = 10; duration = 155; initialDepth = 121.981682; finalDepth = 127.274176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 127.274176 # Seafloor depth: -177.274176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.503454 meters # Minimum depth: 171.981682 meters looking forward 0.000000 meters along route # Maximum depth: 171.981682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.981682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794367; longitude = -121.833227; captureRadius = 10; duration = 155; initialDepth = 99.716144; finalDepth = 121.981682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 121.981682 # Seafloor depth: -171.981682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.225942 meters # Minimum depth: 149.716144 meters looking forward 0.000000 meters along route # Maximum depth: 149.716144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.716144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794190; longitude = -121.832387; captureRadius = 10; duration = 158; initialDepth = 92.656789; finalDepth = 99.716144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 99.716144 # Seafloor depth: -149.716144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 95 # Segment length 133.426912 meters # Minimum depth: 142.656789 meters looking forward 0.000000 meters along route # Maximum depth: 142.656789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.656789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794009; longitude = -121.831528; captureRadius = 10; duration = 266; # abortOnTimeout = True; initialDepth = 96.454812; finalDepth = 92.656789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 92.656789 # Seafloor depth: -142.656789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.204604 meters # Minimum depth: 146.454812 meters looking forward 0.000000 meters along route # Maximum depth: 146.454812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.454812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793183; longitude = -121.830441; captureRadius = 10; duration = 150; initialDepth = 113.172323; finalDepth = 96.454812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 96.454812 # Seafloor depth: -146.454812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 94 # Segment length 95.875070 meters # Minimum depth: 163.172323 meters looking forward 0.000000 meters along route # Maximum depth: 163.172323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.172323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792718; longitude = -121.829829; captureRadius = 10; duration = 191; # abortOnTimeout = True; initialDepth = 107.342811; finalDepth = 113.172323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 113.172323 # Seafloor depth: -163.172323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.699941 meters # Minimum depth: 157.342811 meters looking forward 0.000000 meters along route # Maximum depth: 157.342811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.342811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792868; longitude = -121.828771; captureRadius = 10; duration = 153; initialDepth = 110.034587; finalDepth = 107.342811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 107.342811 # Seafloor depth: -157.342811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 89.197036 meters # Minimum depth: 160.034587 meters looking forward 0.000000 meters along route # Maximum depth: 160.034587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.034587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792988; longitude = -121.827924; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 110.012361; finalDepth = 110.034587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 110.034587 # Seafloor depth: -160.034587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.623314 meters # Minimum depth: 160.012361 meters looking forward 0.000000 meters along route # Maximum depth: 160.012361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.012361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793399; longitude = -121.827065; captureRadius = 10; duration = 151; initialDepth = 110.356875; finalDepth = 110.012361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 110.012361 # Seafloor depth: -160.012361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.501174 meters # Minimum depth: 160.356875 meters looking forward 0.000000 meters along route # Maximum depth: 160.356875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.356875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793748; longitude = -121.826337; captureRadius = 10; duration = 159; initialDepth = 108.842712; finalDepth = 110.356875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 110.356875 # Seafloor depth: -160.356875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 92 # Segment length 108.745133 meters # Minimum depth: 158.842712 meters looking forward 0.000000 meters along route # Maximum depth: 158.842712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.842712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794115; longitude = -121.825571; captureRadius = 10; duration = 217; # abortOnTimeout = True; initialDepth = 137.041159; finalDepth = 108.842712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 108.842712 # Seafloor depth: -158.842712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.160743 meters # Minimum depth: 187.041159 meters looking forward 0.000000 meters along route # Maximum depth: 187.041159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.041159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793922; longitude = -121.824376; captureRadius = 10; duration = 156; initialDepth = 153.575399; finalDepth = 137.041159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 137.041159 # Seafloor depth: -187.041159 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 134.126876 meters # Minimum depth: 203.575399 meters looking forward 0.000000 meters along route # Maximum depth: 203.575399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.575399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793784; longitude = -121.823517; captureRadius = 10; duration = 268; # abortOnTimeout = True; initialDepth = 157.337646; finalDepth = 153.575399; 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: 153.575399 # Seafloor depth: -203.575399 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 127.733286 meters # Minimum depth: 207.337646 meters looking forward 0.000000 meters along route # Maximum depth: 207.337646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.337646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793243; longitude = -121.822173; captureRadius = 10; duration = 255; # abortOnTimeout = True; initialDepth = 101.758465; finalDepth = 157.337646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 157.337646 # Seafloor depth: -207.337646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.312259 meters # Minimum depth: 151.758465 meters looking forward 0.000000 meters along route # Maximum depth: 151.758465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.758465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792102; longitude = -121.821987; captureRadius = 10; duration = 154; initialDepth = 69.873108; finalDepth = 101.758465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 101.758465 # Seafloor depth: -151.758465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 125.931860 meters # Minimum depth: 119.873108 meters looking forward 0.000000 meters along route # Maximum depth: 119.873108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.873108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791411; longitude = -121.821874; captureRadius = 10; duration = 251; # abortOnTimeout = True; initialDepth = 63.758498; finalDepth = 69.873108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 69.873108 # Seafloor depth: -119.873108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.153104 meters # Minimum depth: 113.758498 meters looking forward 0.000000 meters along route # Maximum depth: 113.758498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.758498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790480; longitude = -121.822681; captureRadius = 10; duration = 150; initialDepth = 77.508046; finalDepth = 63.758498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 63.758498 # Seafloor depth: -113.758498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 88 # Segment length 83.241613 meters # Minimum depth: 127.508046 meters looking forward 0.000000 meters along route # Maximum depth: 127.508046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.508046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789924; longitude = -121.823162; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 84.428248; finalDepth = 77.508046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 77.508046 # Seafloor depth: -127.508046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.562416 meters # Minimum depth: 134.428248 meters looking forward 0.000000 meters along route # Maximum depth: 134.428248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.428248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789398; longitude = -121.823828; captureRadius = 10; duration = 151; initialDepth = 68.076995; finalDepth = 84.428248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 84.428248 # Seafloor depth: -134.428248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.067019 meters # Minimum depth: 118.076995 meters looking forward 0.000000 meters along route # Maximum depth: 118.076995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.076995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788921; longitude = -121.824432; captureRadius = 10; duration = 154; initialDepth = 75.772993; finalDepth = 68.076995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 68.076995 # Seafloor depth: -118.076995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.691818 meters # Minimum depth: 125.772993 meters looking forward 0.000000 meters along route # Maximum depth: 125.772993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.772993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788434; longitude = -121.825048; captureRadius = 10; duration = 151; initialDepth = 88.227625; finalDepth = 75.772993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 75.772993 # Seafloor depth: -125.772993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.107541 meters # Minimum depth: 138.227625 meters looking forward 0.000000 meters along route # Maximum depth: 138.227625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.227625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787956; longitude = -121.825654; captureRadius = 10; duration = 152; initialDepth = 89.129761; finalDepth = 88.227625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 88.227625 # Seafloor depth: -138.227625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 68.872082 meters # Minimum depth: 139.129761 meters looking forward 0.000000 meters along route # Maximum depth: 139.129761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.129761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787476; longitude = -121.826262; captureRadius = 10; duration = 137; # abortOnTimeout = True; initialDepth = 90.934955; finalDepth = 89.129761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 89.129761 # Seafloor depth: -139.129761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.481235 meters # Minimum depth: 140.934955 meters looking forward 0.000000 meters along route # Maximum depth: 140.934955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.934955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787319; longitude = -121.827009; captureRadius = 10; duration = 154; initialDepth = 119.890240; finalDepth = 90.934955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 90.934955 # Seafloor depth: -140.934955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.568845 meters # Minimum depth: 169.890240 meters looking forward 0.000000 meters along route # Maximum depth: 169.890240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.890240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787143; longitude = -121.827849; captureRadius = 10; duration = 157; initialDepth = 121.021874; finalDepth = 119.890240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 119.89024 # Seafloor depth: -169.890240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.394078 meters # Minimum depth: 171.021874 meters looking forward 0.000000 meters along route # Maximum depth: 171.021874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.021874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786965; longitude = -121.828701; captureRadius = 10; duration = 152; initialDepth = 123.366378; finalDepth = 121.021874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 121.021874 # Seafloor depth: -171.021874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.759870 meters # Minimum depth: 173.366378 meters looking forward 0.000000 meters along route # Maximum depth: 173.366378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.366378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786791; longitude = -121.829530; captureRadius = 10; duration = 151; initialDepth = 114.605306; finalDepth = 123.366378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 123.366378 # Seafloor depth: -173.366378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.021991 meters # Minimum depth: 164.605306 meters looking forward 0.000000 meters along route # Maximum depth: 164.605306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.605306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786619; longitude = -121.830352; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 115.660986; finalDepth = 114.605306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 114.605306 # Seafloor depth: -164.605306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.432073 meters # Minimum depth: 165.660986 meters looking forward 0.000000 meters along route # Maximum depth: 165.660986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.660986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786680; longitude = -121.831042; captureRadius = 10; duration = 150; initialDepth = 118.879064; finalDepth = 115.660986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.660986 # Seafloor depth: -165.660986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.431987 meters # Minimum depth: 168.879064 meters looking forward 0.000000 meters along route # Maximum depth: 168.879064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.879064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786754; longitude = -121.831883; captureRadius = 10; duration = 150; initialDepth = 111.803479; finalDepth = 118.879064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 118.879064 # Seafloor depth: -168.879064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.431900 meters # Minimum depth: 161.803479 meters looking forward 0.000000 meters along route # Maximum depth: 161.803479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.803479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786828; longitude = -121.832723; captureRadius = 10; duration = 150; initialDepth = 98.739487; finalDepth = 111.803479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 111.803479 # Seafloor depth: -161.803479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.784338 meters # Minimum depth: 148.739487 meters looking forward 0.000000 meters along route # Maximum depth: 148.739487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.739487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786903; longitude = -121.833563; captureRadius = 10; duration = 157; initialDepth = 105.003042; finalDepth = 98.739487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 98.739487 # Seafloor depth: -148.739487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 92.154862 meters # Minimum depth: 155.003042 meters looking forward 0.000000 meters along route # Maximum depth: 155.003042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.003042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.786980; longitude = -121.834441; captureRadius = 10; duration = 184; # abortOnTimeout = True; initialDepth = 112.751275; finalDepth = 105.003042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 105.003042 # Seafloor depth: -155.003042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.749143 meters # Minimum depth: 162.751275 meters looking forward 0.000000 meters along route # Maximum depth: 162.751275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.751275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787263; longitude = -121.835412; captureRadius = 10; duration = 159; initialDepth = 99.656250; finalDepth = 112.751275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 112.751275 # Seafloor depth: -162.751275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.748903 meters # Minimum depth: 149.656250 meters looking forward 0.000000 meters along route # Maximum depth: 149.656250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.656250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787508; longitude = -121.836252; captureRadius = 10; duration = 159; initialDepth = 114.297258; finalDepth = 99.656250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 99.65625 # Seafloor depth: -149.656250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.204284 meters # Minimum depth: 164.297258 meters looking forward 0.000000 meters along route # Maximum depth: 164.297258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.297258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787752; longitude = -121.837092; captureRadius = 10; duration = 152; initialDepth = 130.718262; finalDepth = 114.297258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 114.297258 # Seafloor depth: -164.297258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 58.996557 meters # Minimum depth: 180.718262 meters looking forward 0.000000 meters along route # Maximum depth: 180.718262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.718262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787986; longitude = -121.837895; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 138.174134; finalDepth = 130.718262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 130.718262 # Seafloor depth: -180.718262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.432753 meters # Minimum depth: 188.174134 meters looking forward 0.000000 meters along route # Maximum depth: 188.174134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.174134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788214; longitude = -121.838493; captureRadius = 10; duration = 154; initialDepth = 135.453947; finalDepth = 138.174134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 138.174134 # Seafloor depth: -188.174134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.721421 meters # Minimum depth: 185.453947 meters looking forward 0.000000 meters along route # Maximum depth: 185.453947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.453947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788513; longitude = -121.839277; captureRadius = 10; duration = 155; initialDepth = 144.486024; finalDepth = 135.453947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 135.453947 # Seafloor depth: -185.453947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.143309 meters # Minimum depth: 194.486024 meters looking forward 0.000000 meters along route # Maximum depth: 194.486024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.486024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788812; longitude = -121.840064; captureRadius = 10; duration = 154; initialDepth = 147.350712; finalDepth = 144.486024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 144.486024 # Seafloor depth: -194.486024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.431977 meters # Minimum depth: 197.350712 meters looking forward 0.000000 meters along route # Maximum depth: 197.350712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.350712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789110; longitude = -121.840846; captureRadius = 10; duration = 154; initialDepth = 156.597950; finalDepth = 147.350712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 147.350712 # Seafloor depth: -197.350712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.431718 meters # Minimum depth: 206.597950 meters looking forward 0.000000 meters along route # Maximum depth: 206.597950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.597950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789409; longitude = -121.841630; captureRadius = 10; duration = 154; initialDepth = 162.229256; finalDepth = 156.597950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.59795 # Seafloor depth: -206.597950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.587857 meters # Minimum depth: 212.229256 meters looking forward 0.000000 meters along route # Maximum depth: 212.229256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.229256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789707; longitude = -121.842414; captureRadius = 10; duration = 151; initialDepth = 167.477865; finalDepth = 162.229256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 162.229256 # Seafloor depth: -212.229256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 113.578374 meters # Minimum depth: 217.477865 meters looking forward 0.000000 meters along route # Maximum depth: 217.477865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.477865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789999; longitude = -121.843180; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 165.989691; finalDepth = 167.477865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 167.477865 # Seafloor depth: -217.477865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.859502 meters # Minimum depth: 215.989691 meters looking forward 0.000000 meters along route # Maximum depth: 215.989691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.989691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790351; longitude = -121.844375; captureRadius = 10; duration = 159; initialDepth = 168.895457; finalDepth = 165.989691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 165.989691 # Seafloor depth: -215.989691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.667048 meters # Minimum depth: 218.895457 meters looking forward 0.000000 meters along route # Maximum depth: 218.895457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.895457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790599; longitude = -121.845215; captureRadius = 10; duration = 155; initialDepth = 169.484282; finalDepth = 168.895457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 168.895457 # Seafloor depth: -218.895457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.727304 meters # Minimum depth: 219.484282 meters looking forward 0.000000 meters along route # Maximum depth: 219.484282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.484282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790840; longitude = -121.846032; captureRadius = 10; duration = 153; initialDepth = 170.744397; finalDepth = 169.484282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 169.484282 # Seafloor depth: -219.484282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.858793 meters # Minimum depth: 220.744397 meters looking forward 0.000000 meters along route # Maximum depth: 220.744397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.744397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791078; longitude = -121.846840; captureRadius = 10; duration = 159; initialDepth = 172.599571; finalDepth = 170.744397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.744397 # Seafloor depth: -220.744397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.787337 meters # Minimum depth: 222.599571 meters looking forward 0.000000 meters along route # Maximum depth: 222.599571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.599571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791326; longitude = -121.847680; captureRadius = 10; duration = 151; initialDepth = 178.731026; finalDepth = 172.599571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 172.599571 # Seafloor depth: -222.599571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.605645 meters # Minimum depth: 228.731026 meters looking forward 0.000000 meters along route # Maximum depth: 228.731026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.731026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791561; longitude = -121.848477; captureRadius = 10; duration = 157; initialDepth = 175.421962; finalDepth = 178.731026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.731026 # Seafloor depth: -228.731026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.308842 meters # Minimum depth: 225.421962 meters looking forward 0.000000 meters along route # Maximum depth: 225.421962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.421962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791805; longitude = -121.849304; captureRadius = 10; duration = 152; initialDepth = 147.492879; finalDepth = 175.421962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 175.421962 # Seafloor depth: -225.421962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 61.253900 meters # Minimum depth: 197.492879 meters looking forward 0.000000 meters along route # Maximum depth: 197.492879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.492879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792042; longitude = -121.850107; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 151.186124; finalDepth = 147.492879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 147.492879 # Seafloor depth: -197.492879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.175001 meters # Minimum depth: 201.186124 meters looking forward 0.000000 meters along route # Maximum depth: 201.186124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.186124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792372; longitude = -121.850657; captureRadius = 10; duration = 150; initialDepth = 154.601239; finalDepth = 151.186124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 151.186124 # Seafloor depth: -201.186124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.174738 meters # Minimum depth: 204.601239 meters looking forward 0.000000 meters along route # Maximum depth: 204.601239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.601239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792778; longitude = -121.851332; captureRadius = 10; duration = 150; initialDepth = 160.285392; finalDepth = 154.601239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.601239 # Seafloor depth: -204.601239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.174473 meters # Minimum depth: 210.285392 meters looking forward 0.000000 meters along route # Maximum depth: 210.285392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.285392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793183; longitude = -121.852007; captureRadius = 10; duration = 150; initialDepth = 164.223977; finalDepth = 160.285392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 160.285392 # Seafloor depth: -210.285392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.174210 meters # Minimum depth: 214.223977 meters looking forward 0.000000 meters along route # Maximum depth: 214.223977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.223977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793589; longitude = -121.852682; captureRadius = 10; duration = 150; initialDepth = 164.558671; finalDepth = 164.223977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 164.223977 # Seafloor depth: -214.223977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.964503 meters # Minimum depth: 214.558671 meters looking forward 0.000000 meters along route # Maximum depth: 214.558671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.558671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793994; longitude = -121.853357; captureRadius = 10; duration = 157; initialDepth = 167.447583; finalDepth = 164.558671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 164.558671 # Seafloor depth: -214.558671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.951534 meters # Minimum depth: 217.447583 meters looking forward 0.000000 meters along route # Maximum depth: 217.447583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.447583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794420; longitude = -121.854066; captureRadius = 10; duration = 153; initialDepth = 174.340312; finalDepth = 167.447583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 167.447583 # Seafloor depth: -217.447583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 81 # Segment length 96.451967 meters # Minimum depth: 224.340312 meters looking forward 0.000000 meters along route # Maximum depth: 224.340312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.340312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794836; longitude = -121.854757; captureRadius = 10; duration = 192; # abortOnTimeout = True; initialDepth = 193.138167; finalDepth = 174.340312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.340312 # Seafloor depth: -224.340312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.098129 meters # Minimum depth: 243.138167 meters looking forward 0.000000 meters along route # Maximum depth: 243.138167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.138167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795528; longitude = -121.855410; captureRadius = 10; duration = 150; initialDepth = 207.755611; finalDepth = 193.138167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 193.138167 # Seafloor depth: -243.138167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.314352 meters # Minimum depth: 257.755611 meters looking forward 0.000000 meters along route # Maximum depth: 257.755611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.755611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796067; longitude = -121.855919; captureRadius = 10; duration = 150; initialDepth = 229.193700; finalDepth = 207.755611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 207.755611 # Seafloor depth: -257.755611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.314153 meters # Minimum depth: 279.193700 meters looking forward 0.000000 meters along route # Maximum depth: 279.193700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.193700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796608; longitude = -121.856430; captureRadius = 10; duration = 150; initialDepth = 232.955088; finalDepth = 229.193700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 229.1937 # Seafloor depth: -279.193700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.406008 meters # Minimum depth: 282.955088 meters looking forward 0.000000 meters along route # Maximum depth: 282.955088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 232.955088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797149; longitude = -121.856940; captureRadius = 10; duration = 154; initialDepth = 237.274170; finalDepth = 232.955088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 232.955088 # Seafloor depth: -282.955088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 78.223677 meters # Minimum depth: 287.274170 meters looking forward 0.000000 meters along route # Maximum depth: 287.274170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.274170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797704; longitude = -121.857465; captureRadius = 10; duration = 156; # abortOnTimeout = True; initialDepth = 251.571479; finalDepth = 237.274170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 237.27417 # Seafloor depth: -287.274170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.700103 meters # Minimum depth: 301.571479 meters looking forward 0.000000 meters along route # Maximum depth: 301.571479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.571479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798234; longitude = -121.858043; captureRadius = 10; duration = 151; initialDepth = 268.743395; finalDepth = 251.571479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 251.571479 # Seafloor depth: -301.571479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.831022 meters # Minimum depth: 318.743395 meters looking forward 0.000000 meters along route # Maximum depth: 318.743395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 268.743395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798746; longitude = -121.858604; captureRadius = 10; duration = 153; initialDepth = 276.567318; finalDepth = 268.743395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 268.743395 # Seafloor depth: -318.743395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.876174 meters # Minimum depth: 326.567318 meters looking forward 0.000000 meters along route # Maximum depth: 326.567318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.567318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799267; longitude = -121.859172; captureRadius = 10; duration = 159; initialDepth = 274.687872; finalDepth = 276.567318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 276.567318 # Seafloor depth: -326.567318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.438377 meters # Minimum depth: 324.687872 meters looking forward 0.000000 meters along route # Maximum depth: 324.687872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.687872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799807; longitude = -121.859763; captureRadius = 10; duration = 150; initialDepth = 289.019328; finalDepth = 274.687872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 274.687872 # Seafloor depth: -324.687872 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 132.028490 meters # Minimum depth: 339.019328 meters looking forward 0.000000 meters along route # Maximum depth: 339.019328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.019328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800318; longitude = -121.860321; captureRadius = 10; duration = 264; # abortOnTimeout = True; initialDepth = 269.306241; finalDepth = 289.019328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 289.019328 # Seafloor depth: -339.019328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.137145 meters # Minimum depth: 319.306241 meters looking forward 0.000000 meters along route # Maximum depth: 319.306241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.306241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801113; longitude = -121.859220; captureRadius = 10; duration = 150; initialDepth = 280.471174; finalDepth = 269.306241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 269.306241 # Seafloor depth: -319.306241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.268147 meters # Minimum depth: 330.471174 meters looking forward 0.000000 meters along route # Maximum depth: 330.471174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.471174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801565; longitude = -121.858593; captureRadius = 10; duration = 158; initialDepth = 287.339855; finalDepth = 280.471174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 280.471174 # Seafloor depth: -330.471174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.976882 meters # Minimum depth: 337.339855 meters looking forward 0.000000 meters along route # Maximum depth: 337.339855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.339855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802042; longitude = -121.857931; captureRadius = 10; duration = 155; initialDepth = 289.959522; finalDepth = 287.339855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 287.339855 # Seafloor depth: -337.339855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.427430 meters # Minimum depth: 339.959522 meters looking forward 0.000000 meters along route # Maximum depth: 339.959522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.959522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802511; longitude = -121.857281; captureRadius = 10; duration = 152; initialDepth = 271.088235; finalDepth = 289.959522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 289.959522 # Seafloor depth: -339.959522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.320654 meters # Minimum depth: 321.088235 meters looking forward 0.000000 meters along route # Maximum depth: 321.088235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.088235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802971; longitude = -121.856643; captureRadius = 10; duration = 156; initialDepth = 253.720194; finalDepth = 271.088235; 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: 271.088235 # Seafloor depth: -321.088235 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 114.311024 meters # Minimum depth: 303.720194 meters looking forward 0.000000 meters along route # Maximum depth: 303.720194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.720194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803442; longitude = -121.855989; captureRadius = 10; duration = 228; # abortOnTimeout = True; initialDepth = 241.219075; finalDepth = 253.720194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 253.720194 # Seafloor depth: -303.720194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.985294 meters # Minimum depth: 291.219075 meters looking forward 0.000000 meters along route # Maximum depth: 291.219075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.219075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802721; longitude = -121.855074; captureRadius = 10; duration = 153; initialDepth = 228.137485; finalDepth = 241.219075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 241.219075 # Seafloor depth: -291.219075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.699702 meters # Minimum depth: 278.137485 meters looking forward 0.000000 meters along route # Maximum depth: 278.137485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.137485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802235; longitude = -121.854458; captureRadius = 10; duration = 155; initialDepth = 223.824496; finalDepth = 228.137485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 228.137485 # Seafloor depth: -278.137485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.937466 meters # Minimum depth: 273.824496 meters looking forward 0.000000 meters along route # Maximum depth: 273.824496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.824496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801745; longitude = -121.853836; captureRadius = 10; duration = 161; initialDepth = 230.372823; finalDepth = 223.824496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 223.824496 # Seafloor depth: -273.824496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 123.724813 meters # Minimum depth: 280.372823 meters looking forward 0.000000 meters along route # Maximum depth: 280.372823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.372823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801234; longitude = -121.853188; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 216.627293; finalDepth = 230.372823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 230.372823 # Seafloor depth: -280.372823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.166818 meters # Minimum depth: 266.627293 meters looking forward 0.000000 meters along route # Maximum depth: 266.627293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.627293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800303; longitude = -121.852426; captureRadius = 10; duration = 158; initialDepth = 217.119891; finalDepth = 216.627293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 216.627293 # Seafloor depth: -266.627293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.487635 meters # Minimum depth: 267.119891 meters looking forward 0.000000 meters along route # Maximum depth: 267.119891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.119891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799707; longitude = -121.851937; captureRadius = 10; duration = 152; initialDepth = 222.385380; finalDepth = 217.119891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 217.119891 # Seafloor depth: -267.119891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.953096 meters # Minimum depth: 272.385380 meters looking forward 0.000000 meters along route # Maximum depth: 272.385380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.385380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799131; longitude = -121.851466; captureRadius = 10; duration = 155; initialDepth = 221.730957; finalDepth = 222.385380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 222.38538 # Seafloor depth: -272.385380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.706503 meters # Minimum depth: 271.730957 meters looking forward 0.000000 meters along route # Maximum depth: 271.730957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.730957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798545; longitude = -121.850985; captureRadius = 10; duration = 151; initialDepth = 217.803792; finalDepth = 221.730957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 221.730957 # Seafloor depth: -271.730957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 76.399658 meters # Minimum depth: 267.803792 meters looking forward 0.000000 meters along route # Maximum depth: 267.803792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.803792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797975; longitude = -121.850518; captureRadius = 10; duration = 152; # abortOnTimeout = True; initialDepth = 215.872490; finalDepth = 217.803792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 217.803792 # Seafloor depth: -267.803792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.410459 meters # Minimum depth: 265.872490 meters looking forward 0.000000 meters along route # Maximum depth: 265.872490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.872490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797589; longitude = -121.849809; captureRadius = 10; duration = 156; initialDepth = 211.405426; finalDepth = 215.872490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 215.87249 # Seafloor depth: -265.872490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.410748 meters # Minimum depth: 261.405426 meters looking forward 0.000000 meters along route # Maximum depth: 261.405426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.405426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797194; longitude = -121.849080; captureRadius = 10; duration = 156; initialDepth = 207.277769; finalDepth = 211.405426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 211.405426 # Seafloor depth: -261.405426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.400493 meters # Minimum depth: 257.277769 meters looking forward 0.000000 meters along route # Maximum depth: 257.277769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.277769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796798; longitude = -121.848352; captureRadius = 10; duration = 152; initialDepth = 208.391215; finalDepth = 207.277769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 207.277769 # Seafloor depth: -257.277769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 84.977232 meters # Minimum depth: 258.391215 meters looking forward 0.000000 meters along route # Maximum depth: 258.391215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.391215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796413; longitude = -121.847643; captureRadius = 10; duration = 169; # abortOnTimeout = True; initialDepth = 202.988602; finalDepth = 208.391215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 208.391215 # Seafloor depth: -258.391215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.588182 meters # Minimum depth: 252.988602 meters looking forward 0.000000 meters along route # Maximum depth: 252.988602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.988602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796082; longitude = -121.846784; captureRadius = 10; duration = 155; initialDepth = 191.774954; finalDepth = 202.988602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 202.988602 # Seafloor depth: -252.988602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.588443 meters # Minimum depth: 241.774954 meters looking forward 0.000000 meters along route # Maximum depth: 241.774954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.774954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795780; longitude = -121.845999; captureRadius = 10; duration = 155; initialDepth = 186.611662; finalDepth = 191.774954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 191.774954 # Seafloor depth: -241.774954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.588703 meters # Minimum depth: 236.611662 meters looking forward 0.000000 meters along route # Maximum depth: 236.611662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.611662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795478; longitude = -121.845215; captureRadius = 10; duration = 155; initialDepth = 187.817734; finalDepth = 186.611662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 186.611662 # Seafloor depth: -236.611662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.741605 meters # Minimum depth: 237.817734 meters looking forward 0.000000 meters along route # Maximum depth: 237.817734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.817734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795176; longitude = -121.844431; captureRadius = 10; duration = 151; initialDepth = 185.958272; finalDepth = 187.817734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.817734 # Seafloor depth: -237.817734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 130.379269 meters # Minimum depth: 235.958272 meters looking forward 0.000000 meters along route # Maximum depth: 235.958272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.958272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794881; longitude = -121.843665; captureRadius = 10; duration = 260; # abortOnTimeout = True; initialDepth = 188.959133; finalDepth = 185.958272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 185.958272 # Seafloor depth: -235.958272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.013031 meters # Minimum depth: 238.959133 meters looking forward 0.000000 meters along route # Maximum depth: 238.959133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.959133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794457; longitude = -121.842302; captureRadius = 10; duration = 150; initialDepth = 189.276236; finalDepth = 188.959133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 188.959133 # Seafloor depth: -238.959133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.799283 meters # Minimum depth: 239.276236 meters looking forward 0.000000 meters along route # Maximum depth: 239.276236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.276236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794214; longitude = -121.841518; captureRadius = 10; duration = 153; initialDepth = 188.348531; finalDepth = 189.276236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 189.276236 # Seafloor depth: -239.276236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59.263519 meters # Minimum depth: 238.348531 meters looking forward 0.000000 meters along route # Maximum depth: 238.348531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 188.348531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793964; longitude = -121.840715; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 179.922582; finalDepth = 188.348531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 188.348531 # Seafloor depth: -238.348531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.196070 meters # Minimum depth: 229.922582 meters looking forward 0.000000 meters along route # Maximum depth: 229.922582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.922582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793869; longitude = -121.840061; captureRadius = 10; duration = 152; initialDepth = 175.042730; finalDepth = 179.922582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 179.922582 # Seafloor depth: -229.922582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.582702 meters # Minimum depth: 225.042730 meters looking forward 0.000000 meters along route # Maximum depth: 225.042730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.042730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793747; longitude = -121.839221; captureRadius = 10; duration = 159; initialDepth = 167.561727; finalDepth = 175.042730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 175.04273 # Seafloor depth: -225.042730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 112.593726 meters # Minimum depth: 217.561727 meters looking forward 0.000000 meters along route # Maximum depth: 217.561727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.561727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793619; longitude = -121.838343; captureRadius = 10; duration = 225; # abortOnTimeout = True; initialDepth = 156.467861; finalDepth = 167.561727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 167.561727 # Seafloor depth: -217.561727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.983564 meters # Minimum depth: 206.467861 meters looking forward 0.000000 meters along route # Maximum depth: 206.467861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.467861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793751; longitude = -121.837092; captureRadius = 10; duration = 157; initialDepth = 145.366374; finalDepth = 156.467861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.467861 # Seafloor depth: -206.467861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 71 # Segment length 106.537401 meters # Minimum depth: 195.366374 meters looking forward 0.000000 meters along route # Maximum depth: 195.366374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.366374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793844; longitude = -121.836215; captureRadius = 10; duration = 213; # abortOnTimeout = True; initialDepth = 156.398741; finalDepth = 145.366374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 145.366374 # Seafloor depth: -195.366374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.846892 meters # Minimum depth: 206.398741 meters looking forward 0.000000 meters along route # Maximum depth: 206.398741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.398741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793556; longitude = -121.835076; captureRadius = 10; duration = 153; initialDepth = 140.536825; finalDepth = 156.398741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.398741 # Seafloor depth: -206.398741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 110.035016 meters # Minimum depth: 190.536825 meters looking forward 0.000000 meters along route # Maximum depth: 190.536825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.536825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793349; longitude = -121.834254; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 119.246718; finalDepth = 140.536825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 140.536825 # Seafloor depth: -190.536825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.087890 meters # Minimum depth: 169.246718 meters looking forward 0.000000 meters along route # Maximum depth: 169.246718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.246718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793104; longitude = -121.833059; captureRadius = 10; duration = 158; initialDepth = 115.887451; finalDepth = 119.246718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 119.246718 # Seafloor depth: -169.246718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 99.299264 meters # Minimum depth: 165.887451 meters looking forward 0.000000 meters along route # Maximum depth: 165.887451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.887451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792928; longitude = -121.832200; captureRadius = 10; duration = 198; # abortOnTimeout = True; initialDepth = 108.120487; finalDepth = 115.887451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.887451 # Seafloor depth: -165.887451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.502149 meters # Minimum depth: 158.120487 meters looking forward 0.000000 meters along route # Maximum depth: 158.120487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.120487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792278; longitude = -121.831435; captureRadius = 10; duration = 155; initialDepth = 113.009196; finalDepth = 108.120487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 108.120487 # Seafloor depth: -158.120487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 123.457700 meters # Minimum depth: 163.009196 meters looking forward 0.000000 meters along route # Maximum depth: 163.009196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.009196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791771; longitude = -121.830837; captureRadius = 10; duration = 246; # abortOnTimeout = True; initialDepth = 131.682068; finalDepth = 113.009196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 113.009196 # Seafloor depth: -163.009196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 73.704373 meters # Minimum depth: 181.682068 meters looking forward 0.000000 meters along route # Maximum depth: 181.682068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.682068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791366; longitude = -121.829549; captureRadius = 10; duration = 147; # abortOnTimeout = True; initialDepth = 124.976048; finalDepth = 131.682068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 131.682068 # Seafloor depth: -181.682068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.418295 meters # Minimum depth: 174.976048 meters looking forward 0.000000 meters along route # Maximum depth: 174.976048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.976048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791522; longitude = -121.828746; captureRadius = 10; duration = 150; initialDepth = 132.636983; finalDepth = 124.976048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 124.976048 # Seafloor depth: -174.976048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 106.704631 meters # Minimum depth: 182.636983 meters looking forward 0.000000 meters along route # Maximum depth: 182.636983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.636983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791681; longitude = -121.827924; captureRadius = 10; duration = 213; # abortOnTimeout = True; initialDepth = 132.532393; finalDepth = 132.636983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 132.636983 # Seafloor depth: -182.636983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.028155 meters # Minimum depth: 182.532393 meters looking forward 0.000000 meters along route # Maximum depth: 182.532393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.532393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792243; longitude = -121.826953; captureRadius = 10; duration = 160; initialDepth = 131.291940; finalDepth = 132.532393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 132.532393 # Seafloor depth: -182.532393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.923894 meters # Minimum depth: 181.291940 meters looking forward 0.000000 meters along route # Maximum depth: 181.291940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.291940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792664; longitude = -121.826225; captureRadius = 10; duration = 151; initialDepth = 122.621460; finalDepth = 131.291940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 131.29194 # Seafloor depth: -181.291940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.539608 meters # Minimum depth: 172.621460 meters looking forward 0.000000 meters along route # Maximum depth: 172.621460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.621460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793063; longitude = -121.825534; captureRadius = 10; duration = 245; # abortOnTimeout = True; initialDepth = 153.059387; finalDepth = 122.621460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 122.62146 # Seafloor depth: -172.621460 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 127.735810 meters # Minimum depth: 203.059387 meters looking forward 0.000000 meters along route # Maximum depth: 203.059387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.059387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793288; longitude = -121.824189; captureRadius = 10; duration = 255; # abortOnTimeout = True; initialDepth = 165.669678; finalDepth = 153.059387; 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: 153.059387 # Seafloor depth: -203.059387 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 77.107390 meters # Minimum depth: 215.669678 meters looking forward 0.000000 meters along route # Maximum depth: 215.669678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.669678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792703; longitude = -121.822957; captureRadius = 10; duration = 154; # abortOnTimeout = True; initialDepth = 141.459961; finalDepth = 165.669678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 165.669678 # Seafloor depth: -215.669678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.107391 meters # Minimum depth: 191.459961 meters looking forward 0.000000 meters along route # Maximum depth: 191.459961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.459961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792012; longitude = -121.822864; captureRadius = 10; duration = 154; initialDepth = 99.785278; finalDepth = 141.459961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 141.459961 # Seafloor depth: -191.459961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 115.096261 meters # Minimum depth: 149.785278 meters looking forward 0.000000 meters along route # Maximum depth: 149.785278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.785278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791321; longitude = -121.822770; captureRadius = 10; duration = 230; # abortOnTimeout = True; initialDepth = 99.196832; finalDepth = 99.785278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 99.785278 # Seafloor depth: -149.785278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.914827 meters # Minimum depth: 149.196832 meters looking forward 0.000000 meters along route # Maximum depth: 149.196832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.196832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790561; longitude = -121.823648; captureRadius = 10; duration = 151; initialDepth = 122.073486; finalDepth = 99.196832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 99.196832 # Seafloor depth: -149.196832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 57.047467 meters # Minimum depth: 172.073486 meters looking forward 0.000000 meters along route # Maximum depth: 172.073486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.073486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790059; longitude = -121.824227; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 113.188887; finalDepth = 122.073486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 122.073486 # Seafloor depth: -172.073486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.678949 meters # Minimum depth: 163.188887 meters looking forward 0.000000 meters along route # Maximum depth: 163.188887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.188887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789714; longitude = -121.824700; captureRadius = 10; duration = 151; initialDepth = 115.495679; finalDepth = 113.188887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 113.188887 # Seafloor depth: -163.188887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.985964 meters # Minimum depth: 165.495679 meters looking forward 0.000000 meters along route # Maximum depth: 165.495679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.495679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789255; longitude = -121.825329; captureRadius = 10; duration = 161; initialDepth = 124.255737; finalDepth = 115.495679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 115.495679 # Seafloor depth: -165.495679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.486989 meters # Minimum depth: 174.255737 meters looking forward 0.000000 meters along route # Maximum depth: 174.255737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.255737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788765; longitude = -121.826001; captureRadius = 10; duration = 152; initialDepth = 126.677083; finalDepth = 124.255737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 124.255737 # Seafloor depth: -174.255737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 60 # Segment length 106.488248 meters # Minimum depth: 176.677083 meters looking forward 0.000000 meters along route # Maximum depth: 176.677083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.677083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788302; longitude = -121.826636; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 140.496277; finalDepth = 126.677083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 126.677083 # Seafloor depth: -176.677083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 77.290029 meters # Minimum depth: 190.496277 meters looking forward 0.000000 meters along route # Maximum depth: 190.496277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.496277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788069; longitude = -121.827793; captureRadius = 10; duration = 154; initialDepth = 146.501160; finalDepth = 140.496277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 140.496277 # Seafloor depth: -190.496277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 77.290174 meters # Minimum depth: 196.501160 meters looking forward 0.000000 meters along route # Maximum depth: 196.501160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.501160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787900; longitude = -121.828634; captureRadius = 10; duration = 154; initialDepth = 147.727570; finalDepth = 146.501160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 146.50116 # Seafloor depth: -196.501160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 75.572755 meters # Minimum depth: 197.727570 meters looking forward 0.000000 meters along route # Maximum depth: 197.727570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.727570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787731; longitude = -121.829474; captureRadius = 10; duration = 151; initialDepth = 140.640645; finalDepth = 147.727570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 147.72757 # Seafloor depth: -197.727570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 117.237789 meters # Minimum depth: 190.640645 meters looking forward 0.000000 meters along route # Maximum depth: 190.640645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.640645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787566; longitude = -121.830295; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 145.351965; finalDepth = 140.640645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 140.640645 # Seafloor depth: -190.640645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.367046 meters # Minimum depth: 195.351965 meters looking forward 0.000000 meters along route # Maximum depth: 195.351965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.351965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787672; longitude = -121.831603; captureRadius = 10; duration = 150; initialDepth = 143.675296; finalDepth = 145.351965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 145.351965 # Seafloor depth: -195.351965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.366965 meters # Minimum depth: 193.675296 meters looking forward 0.000000 meters along route # Maximum depth: 193.675296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.675296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787741; longitude = -121.832443; captureRadius = 10; duration = 150; initialDepth = 124.783128; finalDepth = 143.675296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 143.675296 # Seafloor depth: -193.675296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.716522 meters # Minimum depth: 174.783128 meters looking forward 0.000000 meters along route # Maximum depth: 174.783128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.783128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787809; longitude = -121.833283; captureRadius = 10; duration = 157; initialDepth = 145.371053; finalDepth = 124.783128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 124.783128 # Seafloor depth: -174.783128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 128.540110 meters # Minimum depth: 195.371053 meters looking forward 0.000000 meters along route # Maximum depth: 195.371053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.371053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.787881; longitude = -121.834161; captureRadius = 10; duration = 257; # abortOnTimeout = True; initialDepth = 147.842490; finalDepth = 145.371053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 145.371053 # Seafloor depth: -195.371053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.236754 meters # Minimum depth: 197.842490 meters looking forward 0.000000 meters along route # Maximum depth: 197.842490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.842490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788256; longitude = -121.835524; captureRadius = 10; duration = 158; initialDepth = 141.680369; finalDepth = 147.842490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 147.84249 # Seafloor depth: -197.842490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.714909 meters # Minimum depth: 191.680369 meters looking forward 0.000000 meters along route # Maximum depth: 191.680369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.680369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788487; longitude = -121.836364; captureRadius = 10; duration = 151; initialDepth = 135.871623; finalDepth = 141.680369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 141.680369 # Seafloor depth: -191.680369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 98.560015 meters # Minimum depth: 185.871623 meters looking forward 0.000000 meters along route # Maximum depth: 185.871623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.871623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788707; longitude = -121.837167; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 171.050127; finalDepth = 135.871623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 135.871623 # Seafloor depth: -185.871623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.304217 meters # Minimum depth: 221.050127 meters looking forward 0.000000 meters along route # Maximum depth: 221.050127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.050127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789173; longitude = -121.838108; captureRadius = 10; duration = 152; initialDepth = 162.724430; finalDepth = 171.050127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 171.050127 # Seafloor depth: -221.050127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.483272 meters # Minimum depth: 212.724430 meters looking forward 0.000000 meters along route # Maximum depth: 212.724430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.724430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789533; longitude = -121.838836; captureRadius = 10; duration = 158; initialDepth = 170.475993; finalDepth = 162.724430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 162.72443 # Seafloor depth: -212.724430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 104.126503 meters # Minimum depth: 220.475993 meters looking forward 0.000000 meters along route # Maximum depth: 220.475993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.475993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789909; longitude = -121.839595; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 160.583133; finalDepth = 170.475993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.475993 # Seafloor depth: -220.475993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.076451 meters # Minimum depth: 210.583133 meters looking forward 0.000000 meters along route # Maximum depth: 210.583133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.583133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790254; longitude = -121.840680; captureRadius = 10; duration = 150; initialDepth = 171.588188; finalDepth = 160.583133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 160.583133 # Seafloor depth: -210.583133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.848897 meters # Minimum depth: 221.588188 meters looking forward 0.000000 meters along route # Maximum depth: 221.588188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.588188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790503; longitude = -121.841462; captureRadius = 10; duration = 157; initialDepth = 179.492676; finalDepth = 171.588188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 171.588188 # Seafloor depth: -221.588188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.370552 meters # Minimum depth: 229.492676 meters looking forward 0.000000 meters along route # Maximum depth: 229.492676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.492676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790765; longitude = -121.842283; captureRadius = 10; duration = 244; # abortOnTimeout = True; initialDepth = 175.725733; finalDepth = 179.492676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 179.492676 # Seafloor depth: -229.492676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.769961 meters # Minimum depth: 225.725733 meters looking forward 0.000000 meters along route # Maximum depth: 225.725733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.725733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791065; longitude = -121.843603; captureRadius = 10; duration = 153; initialDepth = 178.242435; finalDepth = 175.725733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 175.725733 # Seafloor depth: -225.725733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.192556 meters # Minimum depth: 228.242435 meters looking forward 0.000000 meters along route # Maximum depth: 228.242435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.242435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791254; longitude = -121.844431; captureRadius = 10; duration = 152; initialDepth = 185.834554; finalDepth = 178.242435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.242435 # Seafloor depth: -228.242435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 64.984387 meters # Minimum depth: 235.834554 meters looking forward 0.000000 meters along route # Maximum depth: 235.834554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.834554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791441; longitude = -121.845252; captureRadius = 10; duration = 129; # abortOnTimeout = True; initialDepth = 191.598241; finalDepth = 185.834554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 185.834554 # Seafloor depth: -235.834554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.034863 meters # Minimum depth: 241.598241 meters looking forward 0.000000 meters along route # Maximum depth: 241.598241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.598241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791626; longitude = -121.845943; captureRadius = 10; duration = 158; initialDepth = 185.121645; finalDepth = 191.598241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 191.598241 # Seafloor depth: -241.598241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.278316 meters # Minimum depth: 235.121645 meters looking forward 0.000000 meters along route # Maximum depth: 235.121645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.121645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791852; longitude = -121.846784; captureRadius = 10; duration = 154; initialDepth = 180.571533; finalDepth = 185.121645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 185.121645 # Seafloor depth: -235.121645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 125.213359 meters # Minimum depth: 230.571533 meters looking forward 0.000000 meters along route # Maximum depth: 230.571533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.571533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792072; longitude = -121.847605; captureRadius = 10; duration = 250; # abortOnTimeout = True; initialDepth = 191.593844; finalDepth = 180.571533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.571533 # Seafloor depth: -230.571533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.301534 meters # Minimum depth: 241.593844 meters looking forward 0.000000 meters along route # Maximum depth: 241.593844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.593844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792663; longitude = -121.848800; captureRadius = 10; duration = 152; initialDepth = 204.028922; finalDepth = 191.593844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 191.593844 # Seafloor depth: -241.593844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.257701 meters # Minimum depth: 254.028922 meters looking forward 0.000000 meters along route # Maximum depth: 254.028922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.028922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793024; longitude = -121.849529; captureRadius = 10; duration = 156; initialDepth = 202.701436; finalDepth = 204.028922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 204.028922 # Seafloor depth: -254.028922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 121.908746 meters # Minimum depth: 252.701436 meters looking forward 0.000000 meters along route # Maximum depth: 252.701436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.701436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793394; longitude = -121.850275; captureRadius = 10; duration = 243; # abortOnTimeout = True; initialDepth = 200.710607; finalDepth = 202.701436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 202.701436 # Seafloor depth: -252.701436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.583366 meters # Minimum depth: 250.710607 meters looking forward 0.000000 meters along route # Maximum depth: 250.710607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.710607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794043; longitude = -121.851377; captureRadius = 10; duration = 161; initialDepth = 203.741453; finalDepth = 200.710607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 200.710607 # Seafloor depth: -250.710607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.450604 meters # Minimum depth: 253.741453 meters looking forward 0.000000 meters along route # Maximum depth: 253.741453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.741453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794473; longitude = -121.852105; captureRadius = 10; duration = 152; initialDepth = 195.645935; finalDepth = 203.741453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 203.741453 # Seafloor depth: -253.741453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69.072853 meters # Minimum depth: 245.645935 meters looking forward 0.000000 meters along route # Maximum depth: 245.645935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.645935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794881; longitude = -121.852796; captureRadius = 10; duration = 138; # abortOnTimeout = True; initialDepth = 202.484885; finalDepth = 195.645935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 195.645935 # Seafloor depth: -245.645935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.085643 meters # Minimum depth: 252.484885 meters looking forward 0.000000 meters along route # Maximum depth: 252.484885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.484885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795276; longitude = -121.853394; captureRadius = 10; duration = 150; initialDepth = 217.775093; finalDepth = 202.484885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 202.484885 # Seafloor depth: -252.484885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.010458 meters # Minimum depth: 267.775093 meters looking forward 0.000000 meters along route # Maximum depth: 267.775093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.775093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795707; longitude = -121.854043; captureRadius = 10; duration = 152; initialDepth = 211.307475; finalDepth = 217.775093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 217.775093 # Seafloor depth: -267.775093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50 # Segment length 125.156359 meters # Minimum depth: 261.307475 meters looking forward 0.000000 meters along route # Maximum depth: 261.307475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.307475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796142; longitude = -121.854701; captureRadius = 10; duration = 250; # abortOnTimeout = True; initialDepth = 223.677235; finalDepth = 211.307475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 211.307475 # Seafloor depth: -261.307475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.752334 meters # Minimum depth: 273.677235 meters looking forward 0.000000 meters along route # Maximum depth: 273.677235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.677235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797115; longitude = -121.855410; captureRadius = 10; duration = 151; initialDepth = 228.783101; finalDepth = 223.677235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 223.677235 # Seafloor depth: -273.677235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 49 # Segment length 60.270825 meters # Minimum depth: 278.783101 meters looking forward 0.000000 meters along route # Maximum depth: 278.783101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.783101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797704; longitude = -121.855840; captureRadius = 10; duration = 120; # abortOnTimeout = True; initialDepth = 228.754881; finalDepth = 228.783101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 228.783101 # Seafloor depth: -278.783101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 81.133563 meters # Minimum depth: 278.754881 meters looking forward 0.000000 meters along route # Maximum depth: 278.754881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.754881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798095; longitude = -121.856310; captureRadius = 10; duration = 162; initialDepth = 237.347921; finalDepth = 228.754881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 228.754881 # Seafloor depth: -278.754881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 120.794611 meters # Minimum depth: 287.347921 meters looking forward 0.000000 meters along route # Maximum depth: 287.347921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.347921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798621; longitude = -121.856942; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 261.880561; finalDepth = 237.347921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 237.347921 # Seafloor depth: -287.347921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 81.261512 meters # Minimum depth: 311.880561 meters looking forward 0.000000 meters along route # Maximum depth: 311.880561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.880561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799447; longitude = -121.857824; captureRadius = 10; duration = 162; initialDepth = 258.338949; finalDepth = 261.880561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 261.880561 # Seafloor depth: -311.880561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 47 # Segment length 89.124787 meters # Minimum depth: 308.338949 meters looking forward 0.000000 meters along route # Maximum depth: 308.338949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.338949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800003; longitude = -121.858417; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 266.984085; finalDepth = 258.338949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 258.338949 # Seafloor depth: -308.338949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 76.923354 meters # Minimum depth: 316.984085 meters looking forward 0.000000 meters along route # Maximum depth: 316.984085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.984085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800618; longitude = -121.859058; captureRadius = 10; duration = 153; initialDepth = 279.120141; finalDepth = 266.984085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 266.984085 # Seafloor depth: -316.984085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 75.240220 meters # Minimum depth: 329.120141 meters looking forward 0.000000 meters along route # Maximum depth: 329.120141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.120141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801150; longitude = -121.859612; captureRadius = 10; duration = 150; initialDepth = 281.464762; finalDepth = 279.120141; 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: 279.120141 # Seafloor depth: -329.120141 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 100.260761 meters # Minimum depth: 331.464762 meters looking forward 0.000000 meters along route # Maximum depth: 331.464762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.464762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801670; longitude = -121.860153; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 297.318197; finalDepth = 281.464762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 281.464762 # Seafloor depth: -331.464762 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 129.943116 meters # Minimum depth: 347.318197 meters looking forward 0.000000 meters along route # Maximum depth: 347.318197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.318197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802541; longitude = -121.859855; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 295.452108; finalDepth = 297.318197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 297.318197 # Seafloor depth: -347.318197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 68.333846 meters # Minimum depth: 345.452108 meters looking forward 0.000000 meters along route # Maximum depth: 345.452108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.452108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802541; longitude = -121.858398; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 288.572235; finalDepth = 295.452108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 295.452108 # Seafloor depth: -345.452108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.759445 meters # Minimum depth: 338.572235 meters looking forward 0.000000 meters along route # Maximum depth: 338.572235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.572235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802105; longitude = -121.857857; captureRadius = 10; duration = 155; initialDepth = 285.596558; finalDepth = 288.572235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 288.572235 # Seafloor depth: -338.572235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.403346 meters # Minimum depth: 335.596558 meters looking forward 0.000000 meters along route # Maximum depth: 335.596558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.596558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801610; longitude = -121.857240; captureRadius = 10; duration = 150; initialDepth = 283.120728; finalDepth = 285.596558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 285.596558 # Seafloor depth: -335.596558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.403588 meters # Minimum depth: 333.120728 meters looking forward 0.000000 meters along route # Maximum depth: 333.120728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.120728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801129; longitude = -121.856643; captureRadius = 10; duration = 150; initialDepth = 281.320679; finalDepth = 283.120728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 283.120728 # Seafloor depth: -333.120728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 43 # Segment length 61.845328 meters # Minimum depth: 331.320679 meters looking forward 0.000000 meters along route # Maximum depth: 331.320679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.320679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800648; longitude = -121.856045; captureRadius = 10; duration = 123; # abortOnTimeout = True; initialDepth = 280.311066; finalDepth = 281.320679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 281.320679 # Seafloor depth: -331.320679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.901261 meters # Minimum depth: 330.311066 meters looking forward 0.000000 meters along route # Maximum depth: 330.311066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.311066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800199; longitude = -121.855635; captureRadius = 10; duration = 151; initialDepth = 278.297499; finalDepth = 280.311066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 280.311066 # Seafloor depth: -330.311066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.901456 meters # Minimum depth: 328.297499 meters looking forward 0.000000 meters along route # Maximum depth: 328.297499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.297499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799648; longitude = -121.855130; captureRadius = 10; duration = 151; initialDepth = 276.495726; finalDepth = 278.297499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 278.297499 # Seafloor depth: -328.297499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.996410 meters # Minimum depth: 326.495726 meters looking forward 0.000000 meters along route # Maximum depth: 326.495726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.495726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799097; longitude = -121.854626; captureRadius = 10; duration = 151; initialDepth = 271.870365; finalDepth = 276.495726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 276.495726 # Seafloor depth: -326.495726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.618271 meters # Minimum depth: 321.870365 meters looking forward 0.000000 meters along route # Maximum depth: 321.870365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.870365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798546; longitude = -121.854121; captureRadius = 10; duration = 157; initialDepth = 267.961711; finalDepth = 271.870365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.870365 # Seafloor depth: -321.870365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 115.885971 meters # Minimum depth: 317.961711 meters looking forward 0.000000 meters along route # Maximum depth: 317.961711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.961711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797975; longitude = -121.853599; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 262.569275; finalDepth = 267.961711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 267.961711 # Seafloor depth: -317.961711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.485061 meters # Minimum depth: 312.569275 meters looking forward 0.000000 meters along route # Maximum depth: 312.569275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.569275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797249; longitude = -121.852666; captureRadius = 10; duration = 152; initialDepth = 260.892947; finalDepth = 262.569275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 262.569275 # Seafloor depth: -312.569275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.485314 meters # Minimum depth: 310.892947 meters looking forward 0.000000 meters along route # Maximum depth: 310.892947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.892947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796769; longitude = -121.852049; captureRadius = 10; duration = 152; initialDepth = 262.825569; finalDepth = 260.892947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 260.892947 # Seafloor depth: -310.892947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 81.121065 meters # Minimum depth: 312.825569 meters looking forward 0.000000 meters along route # Maximum depth: 312.825569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.825569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796290; longitude = -121.851433; captureRadius = 10; duration = 162; initialDepth = 261.993530; finalDepth = 262.825569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 262.825569 # Seafloor depth: -312.825569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 41 # Segment length 64.675846 meters # Minimum depth: 311.993530 meters looking forward 0.000000 meters along route # Maximum depth: 311.993530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.993530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795782; longitude = -121.850780; captureRadius = 10; duration = 129; # abortOnTimeout = True; initialDepth = 259.397641; finalDepth = 261.993530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 261.99353 # Seafloor depth: -311.993530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.908901 meters # Minimum depth: 309.397641 meters looking forward 0.000000 meters along route # Maximum depth: 309.397641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.397641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795501; longitude = -121.850145; captureRadius = 10; duration = 153; initialDepth = 256.373909; finalDepth = 259.397641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 259.397641 # Seafloor depth: -309.397641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.172557 meters # Minimum depth: 306.373909 meters looking forward 0.000000 meters along route # Maximum depth: 306.373909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.373909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795166; longitude = -121.849390; captureRadius = 10; duration = 154; initialDepth = 254.359117; finalDepth = 256.373909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 256.373909 # Seafloor depth: -306.373909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.226383 meters # Minimum depth: 304.359117 meters looking forward 0.000000 meters along route # Maximum depth: 304.359117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.359117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794830; longitude = -121.848632; captureRadius = 10; duration = 156; initialDepth = 251.655549; finalDepth = 254.359117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 254.359117 # Seafloor depth: -304.359117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.856153 meters # Minimum depth: 301.655549 meters looking forward 0.000000 meters along route # Maximum depth: 301.655549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.655549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794490; longitude = -121.847864; captureRadius = 10; duration = 151; initialDepth = 247.914998; finalDepth = 251.655549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 251.655549 # Seafloor depth: -301.655549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.090539 meters # Minimum depth: 297.914998 meters looking forward 0.000000 meters along route # Maximum depth: 297.914998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.914998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794160; longitude = -121.847120; captureRadius = 10; duration = 152; initialDepth = 245.500244; finalDepth = 247.914998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 247.914998 # Seafloor depth: -297.914998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.914580 meters # Minimum depth: 295.500244 meters looking forward 0.000000 meters along route # Maximum depth: 295.500244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.500244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793829; longitude = -121.846373; captureRadius = 10; duration = 125; # abortOnTimeout = True; initialDepth = 242.443021; finalDepth = 245.500244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 245.500244 # Seafloor depth: -295.500244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.497706 meters # Minimum depth: 292.443021 meters looking forward 0.000000 meters along route # Maximum depth: 292.443021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.443021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793616; longitude = -121.845719; captureRadius = 10; duration = 150; initialDepth = 239.512085; finalDepth = 242.443021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 242.443021 # Seafloor depth: -292.443021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.497934 meters # Minimum depth: 289.512085 meters looking forward 0.000000 meters along route # Maximum depth: 289.512085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.512085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793361; longitude = -121.844935; captureRadius = 10; duration = 150; initialDepth = 235.937841; finalDepth = 239.512085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 239.512085 # Seafloor depth: -289.512085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.498163 meters # Minimum depth: 285.937841 meters looking forward 0.000000 meters along route # Maximum depth: 285.937841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.937841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793106; longitude = -121.844151; captureRadius = 10; duration = 150; initialDepth = 234.130572; finalDepth = 235.937841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 235.937841 # Seafloor depth: -285.937841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 79.093558 meters # Minimum depth: 284.130572 meters looking forward 0.000000 meters along route # Maximum depth: 284.130572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.130572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792850; longitude = -121.843366; captureRadius = 10; duration = 158; initialDepth = 230.940592; finalDepth = 234.130572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 234.130572 # Seafloor depth: -284.130572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 39 # Segment length 100.505635 meters # Minimum depth: 280.940592 meters looking forward 0.000000 meters along route # Maximum depth: 280.940592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.940592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792583; longitude = -121.842545; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 227.326447; finalDepth = 230.940592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 230.940592 # Seafloor depth: -280.940592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.379439 meters # Minimum depth: 277.326447 meters looking forward 0.000000 meters along route # Maximum depth: 277.326447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.326447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792334; longitude = -121.841462; captureRadius = 10; duration = 150; initialDepth = 223.744644; finalDepth = 227.326447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.326447 # Seafloor depth: -277.326447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.379622 meters # Minimum depth: 273.744644 meters looking forward 0.000000 meters along route # Maximum depth: 273.744644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.744644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792147; longitude = -121.840650; captureRadius = 10; duration = 150; initialDepth = 222.035919; finalDepth = 223.744644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 223.744644 # Seafloor depth: -273.744644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.246241 meters # Minimum depth: 272.035919 meters looking forward 0.000000 meters along route # Maximum depth: 272.035919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.035919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791960; longitude = -121.839837; captureRadius = 10; duration = 152; initialDepth = 219.030518; finalDepth = 222.035919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 222.035919 # Seafloor depth: -272.035919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 73.974370 meters # Minimum depth: 269.030518 meters looking forward 0.000000 meters along route # Maximum depth: 269.030518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.030518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791771; longitude = -121.839016; captureRadius = 10; duration = 147; # abortOnTimeout = True; initialDepth = 216.103554; finalDepth = 219.030518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 219.030518 # Seafloor depth: -269.030518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.415214 meters # Minimum depth: 266.103554 meters looking forward 0.000000 meters along route # Maximum depth: 266.103554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.103554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791605; longitude = -121.838213; captureRadius = 10; duration = 154; initialDepth = 211.871823; finalDepth = 216.103554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 216.103554 # Seafloor depth: -266.103554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.415392 meters # Minimum depth: 261.871823 meters looking forward 0.000000 meters along route # Maximum depth: 261.871823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.871823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791432; longitude = -121.837373; captureRadius = 10; duration = 154; initialDepth = 207.267135; finalDepth = 211.871823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 211.871823 # Seafloor depth: -261.871823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.135919 meters # Minimum depth: 257.267135 meters looking forward 0.000000 meters along route # Maximum depth: 257.267135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.267135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791258; longitude = -121.836532; captureRadius = 10; duration = 158; initialDepth = 203.123291; finalDepth = 207.267135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 207.267135 # Seafloor depth: -257.267135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 37 # Segment length 59.927678 meters # Minimum depth: 253.123291 meters looking forward 0.000000 meters along route # Maximum depth: 253.123291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.123291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791080; longitude = -121.835673; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 200.134763; finalDepth = 203.123291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 203.123291 # Seafloor depth: -253.123291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.655319 meters # Minimum depth: 250.134763 meters looking forward 0.000000 meters along route # Maximum depth: 250.134763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.134763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790834; longitude = -121.835076; captureRadius = 10; duration = 157; initialDepth = 199.309292; finalDepth = 200.134763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 200.134763 # Seafloor depth: -250.134763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 76.782839 meters # Minimum depth: 249.309292 meters looking forward 0.000000 meters along route # Maximum depth: 249.309292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.309292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790510; longitude = -121.834291; captureRadius = 10; duration = 153; initialDepth = 198.410095; finalDepth = 199.309292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 199.309292 # Seafloor depth: -249.309292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 127.131557 meters # Minimum depth: 248.410095 meters looking forward 0.000000 meters along route # Maximum depth: 248.410095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.410095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790194; longitude = -121.833526; captureRadius = 10; duration = 254; # abortOnTimeout = True; initialDepth = 187.437307; finalDepth = 198.410095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 198.410095 # Seafloor depth: -248.410095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 78.095431 meters # Minimum depth: 237.437307 meters looking forward 0.000000 meters along route # Maximum depth: 237.437307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.437307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789738; longitude = -121.832219; captureRadius = 10; duration = 156; initialDepth = 183.749268; finalDepth = 187.437307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 187.437307 # Seafloor depth: -237.437307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 35 # Segment length 73.476941 meters # Minimum depth: 233.749268 meters looking forward 0.000000 meters along route # Maximum depth: 233.749268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.749268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789458; longitude = -121.831416; captureRadius = 10; duration = 146; # abortOnTimeout = True; initialDepth = 181.926069; finalDepth = 183.749268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 183.749268 # Seafloor depth: -233.749268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.146841 meters # Minimum depth: 231.926069 meters looking forward 0.000000 meters along route # Maximum depth: 231.926069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.926069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789502; longitude = -121.830594; captureRadius = 10; duration = 150; initialDepth = 182.549507; finalDepth = 181.926069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 181.926069 # Seafloor depth: -231.926069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.146813 meters # Minimum depth: 232.549507 meters looking forward 0.000000 meters along route # Maximum depth: 232.549507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.549507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789547; longitude = -121.829754; captureRadius = 10; duration = 150; initialDepth = 180.575820; finalDepth = 182.549507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 182.549507 # Seafloor depth: -232.549507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.816711 meters # Minimum depth: 230.575820 meters looking forward 0.000000 meters along route # Maximum depth: 230.575820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.575820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789592; longitude = -121.828914; captureRadius = 10; duration = 153; initialDepth = 178.789551; finalDepth = 180.575820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.57582 # Seafloor depth: -230.575820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 77.767496 meters # Minimum depth: 228.789551 meters looking forward 0.000000 meters along route # Maximum depth: 228.789551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.789551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789638; longitude = -121.828055; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 178.034642; finalDepth = 178.789551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.789551 # Seafloor depth: -228.789551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.813741 meters # Minimum depth: 228.034642 meters looking forward 0.000000 meters along route # Maximum depth: 228.034642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.034642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790045; longitude = -121.827345; captureRadius = 10; duration = 159; initialDepth = 176.306121; finalDepth = 178.034642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.034642 # Seafloor depth: -228.034642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 77.766973 meters # Minimum depth: 226.306121 meters looking forward 0.000000 meters along route # Maximum depth: 226.306121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.306121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790463; longitude = -121.826617; captureRadius = 10; duration = 155; initialDepth = 174.593384; finalDepth = 176.306121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 176.306121 # Seafloor depth: -226.306121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 33 # Segment length 130.163887 meters # Minimum depth: 224.593384 meters looking forward 0.000000 meters along route # Maximum depth: 224.593384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.593384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790870; longitude = -121.825907; captureRadius = 10; duration = 260; # abortOnTimeout = True; initialDepth = 172.506890; finalDepth = 174.593384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.593384 # Seafloor depth: -224.593384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.302646 meters # Minimum depth: 222.506890 meters looking forward 0.000000 meters along route # Maximum depth: 222.506890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.506890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791656; longitude = -121.824824; captureRadius = 10; duration = 152; initialDepth = 171.339925; finalDepth = 172.506890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 172.50689 # Seafloor depth: -222.506890 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 56.605067 meters # Minimum depth: 221.339925 meters looking forward 0.000000 meters along route # Maximum depth: 221.339925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.339925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792117; longitude = -121.824189; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 156.325948; finalDepth = 171.339925; 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: 171.339925 # Seafloor depth: -221.339925 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 115.741541 meters # Minimum depth: 206.325948 meters looking forward 0.000000 meters along route # Maximum depth: 206.325948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.325948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791771; longitude = -121.823723; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 161.842300; finalDepth = 156.325948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.325948 # Seafloor depth: -206.325948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 78.704540 meters # Minimum depth: 211.842300 meters looking forward 0.000000 meters along route # Maximum depth: 211.842300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.842300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791020; longitude = -121.824623; captureRadius = 10; duration = 157; initialDepth = 162.198812; finalDepth = 161.842300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 161.8423 # Seafloor depth: -211.842300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 109.824131 meters # Minimum depth: 212.198812 meters looking forward 0.000000 meters along route # Maximum depth: 212.198812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.198812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790510; longitude = -121.825235; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 165.140151; finalDepth = 162.198812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 162.198812 # Seafloor depth: -212.198812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.877190 meters # Minimum depth: 215.140151 meters looking forward 0.000000 meters along route # Maximum depth: 215.140151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.140151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789865; longitude = -121.826169; captureRadius = 10; duration = 153; initialDepth = 163.814860; finalDepth = 165.140151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 165.140151 # Seafloor depth: -215.140151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 29 # Segment length 57.358707 meters # Minimum depth: 213.814860 meters looking forward 0.000000 meters along route # Maximum depth: 213.814860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.814860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789413; longitude = -121.826822; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 168.281386; finalDepth = 163.814860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 163.81486 # Seafloor depth: -213.814860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.712001 meters # Minimum depth: 218.281386 meters looking forward 0.000000 meters along route # Maximum depth: 218.281386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.281386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789188; longitude = -121.827401; captureRadius = 10; duration = 155; initialDepth = 169.827977; finalDepth = 168.281386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 168.281386 # Seafloor depth: -218.281386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.562530 meters # Minimum depth: 219.827977 meters looking forward 0.000000 meters along route # Maximum depth: 219.827977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.827977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788884; longitude = -121.828185; captureRadius = 10; duration = 159; initialDepth = 166.498128; finalDepth = 169.827977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 169.827977 # Seafloor depth: -219.827977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 63.318515 meters # Minimum depth: 216.498128 meters looking forward 0.000000 meters along route # Maximum depth: 216.498128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.498128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788572; longitude = -121.828988; captureRadius = 10; duration = 126; # abortOnTimeout = True; initialDepth = 177.666657; finalDepth = 166.498128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 166.498128 # Seafloor depth: -216.498128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.981272 meters # Minimum depth: 227.666657 meters looking forward 0.000000 meters along route # Maximum depth: 227.666657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.666657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788569; longitude = -121.829698; captureRadius = 10; duration = 159; initialDepth = 180.266834; finalDepth = 177.666657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 177.666657 # Seafloor depth: -227.666657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.981259 meters # Minimum depth: 230.266834 meters looking forward 0.000000 meters along route # Maximum depth: 230.266834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.266834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788565; longitude = -121.830594; captureRadius = 10; duration = 159; initialDepth = 182.330751; finalDepth = 180.266834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.266834 # Seafloor depth: -230.266834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.314971 meters # Minimum depth: 232.330751 meters looking forward 0.000000 meters along route # Maximum depth: 232.330751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.330751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788561; longitude = -121.831491; captureRadius = 10; duration = 156; initialDepth = 182.716797; finalDepth = 182.330751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 182.330751 # Seafloor depth: -232.330751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 27 # Segment length 128.539152 meters # Minimum depth: 232.716797 meters looking forward 0.000000 meters along route # Maximum depth: 232.716797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.716797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788557; longitude = -121.832368; captureRadius = 10; duration = 257; # abortOnTimeout = True; initialDepth = 177.645499; finalDepth = 182.716797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 182.716797 # Seafloor depth: -232.716797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.236165 meters # Minimum depth: 227.645499 meters looking forward 0.000000 meters along route # Maximum depth: 227.645499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.645499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788932; longitude = -121.833731; captureRadius = 10; duration = 158; initialDepth = 179.369596; finalDepth = 177.645499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 177.645499 # Seafloor depth: -227.645499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.714344 meters # Minimum depth: 229.369596 meters looking forward 0.000000 meters along route # Maximum depth: 229.369596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.369596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789163; longitude = -121.834572; captureRadius = 10; duration = 151; initialDepth = 183.331238; finalDepth = 179.369596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 179.369596 # Seafloor depth: -229.369596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 77.530942 meters # Minimum depth: 233.331238 meters looking forward 0.000000 meters along route # Maximum depth: 233.331238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.331238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789383; longitude = -121.835375; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 189.175201; finalDepth = 183.331238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 183.331238 # Seafloor depth: -233.331238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.421659 meters # Minimum depth: 239.175201 meters looking forward 0.000000 meters along route # Maximum depth: 239.175201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 189.175201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789714; longitude = -121.836140; captureRadius = 10; duration = 158; initialDepth = 200.293406; finalDepth = 189.175201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 189.175201 # Seafloor depth: -239.175201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.639411 meters # Minimum depth: 250.293406 meters looking forward 0.000000 meters along route # Maximum depth: 250.293406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.293406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790052; longitude = -121.836924; captureRadius = 10; duration = 151; initialDepth = 205.110046; finalDepth = 200.293406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 200.293406 # Seafloor depth: -250.293406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 25 # Segment length 80.152761 meters # Minimum depth: 255.110046 meters looking forward 0.000000 meters along route # Maximum depth: 255.110046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.110046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790375; longitude = -121.837671; captureRadius = 10; duration = 160; # abortOnTimeout = True; initialDepth = 208.830061; finalDepth = 205.110046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 205.110046 # Seafloor depth: -255.110046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.509203 meters # Minimum depth: 258.830061 meters looking forward 0.000000 meters along route # Maximum depth: 258.830061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.830061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790667; longitude = -121.838493; captureRadius = 10; duration = 153; initialDepth = 211.803711; finalDepth = 208.830061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 208.830061 # Seafloor depth: -258.830061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.330596 meters # Minimum depth: 261.803711 meters looking forward 0.000000 meters along route # Maximum depth: 261.803711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.803711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790945; longitude = -121.839277; captureRadius = 10; duration = 156; initialDepth = 214.948039; finalDepth = 211.803711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 211.803711 # Seafloor depth: -261.803711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 120.797746 meters # Minimum depth: 264.948039 meters looking forward 0.000000 meters along route # Maximum depth: 264.948039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.948039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791231; longitude = -121.840080; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 226.640522; finalDepth = 214.948039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 214.948039 # Seafloor depth: -264.948039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 76.801084 meters # Minimum depth: 276.640522 meters looking forward 0.000000 meters along route # Maximum depth: 276.640522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.640522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791561; longitude = -121.841370; captureRadius = 10; duration = 153; initialDepth = 227.168038; finalDepth = 226.640522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 226.640522 # Seafloor depth: -276.640522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 76.940771 meters # Minimum depth: 277.168038 meters looking forward 0.000000 meters along route # Maximum depth: 277.168038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.168038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791771; longitude = -121.842190; captureRadius = 10; duration = 153; initialDepth = 230.502869; finalDepth = 227.168038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.168038 # Seafloor depth: -277.168038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 65.138570 meters # Minimum depth: 280.502869 meters looking forward 0.000000 meters along route # Maximum depth: 280.502869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.502869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791982; longitude = -121.843012; captureRadius = 10; duration = 130; # abortOnTimeout = True; initialDepth = 234.583700; finalDepth = 230.502869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 230.502869 # Seafloor depth: -280.502869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.222377 meters # Minimum depth: 284.583700 meters looking forward 0.000000 meters along route # Maximum depth: 284.583700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.583700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792171; longitude = -121.843703; captureRadius = 10; duration = 158; initialDepth = 235.158447; finalDepth = 234.583700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 234.5837 # Seafloor depth: -284.583700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.222150 meters # Minimum depth: 285.158447 meters looking forward 0.000000 meters along route # Maximum depth: 285.158447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.158447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792402; longitude = -121.844543; captureRadius = 10; duration = 158; initialDepth = 240.347924; finalDepth = 235.158447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 235.158447 # Seafloor depth: -285.158447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.700953 meters # Minimum depth: 290.347924 meters looking forward 0.000000 meters along route # Maximum depth: 290.347924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.347924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792633; longitude = -121.845383; captureRadius = 10; duration = 151; initialDepth = 240.784505; finalDepth = 240.347924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.347924 # Seafloor depth: -290.347924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59.838658 meters # Minimum depth: 290.784505 meters looking forward 0.000000 meters along route # Maximum depth: 290.784505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.784505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792853; longitude = -121.846186; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 240.117717; finalDepth = 240.784505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.784505 # Seafloor depth: -290.784505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.537996 meters # Minimum depth: 290.117717 meters looking forward 0.000000 meters along route # Maximum depth: 290.117717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.117717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793098; longitude = -121.846784; captureRadius = 10; duration = 157; initialDepth = 243.014364; finalDepth = 240.117717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.117717 # Seafloor depth: -290.117717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.537724 meters # Minimum depth: 293.014364 meters looking forward 0.000000 meters along route # Maximum depth: 293.014364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.014364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793419; longitude = -121.847568; captureRadius = 10; duration = 157; initialDepth = 246.198368; finalDepth = 243.014364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 243.014364 # Seafloor depth: -293.014364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.407386 meters # Minimum depth: 296.198368 meters looking forward 0.000000 meters along route # Maximum depth: 296.198368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.198368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793740; longitude = -121.848352; captureRadius = 10; duration = 160; initialDepth = 250.609375; finalDepth = 246.198368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 246.198368 # Seafloor depth: -296.198368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 21 # Segment length 76.792313 meters # Minimum depth: 300.609375 meters looking forward 0.000000 meters along route # Maximum depth: 300.609375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.609375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794070; longitude = -121.849155; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 253.522029; finalDepth = 250.609375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 250.609375 # Seafloor depth: -300.609375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.812875 meters # Minimum depth: 303.522029 meters looking forward 0.000000 meters along route # Maximum depth: 303.522029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.522029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794461; longitude = -121.849865; captureRadius = 10; duration = 157; initialDepth = 255.712880; finalDepth = 253.522029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 253.522029 # Seafloor depth: -303.522029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.022705 meters # Minimum depth: 305.712880 meters looking forward 0.000000 meters along route # Maximum depth: 305.712880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.712880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794863; longitude = -121.850593; captureRadius = 10; duration = 154; initialDepth = 259.040717; finalDepth = 255.712880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 255.71288 # Seafloor depth: -305.712880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 76.560524 meters # Minimum depth: 309.040717 meters looking forward 0.000000 meters along route # Maximum depth: 309.040717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.040717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795256; longitude = -121.851305; captureRadius = 10; duration = 153; initialDepth = 261.448344; finalDepth = 259.040717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 259.040717 # Seafloor depth: -309.040717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 102.859259 meters # Minimum depth: 311.448344 meters looking forward 0.000000 meters along route # Maximum depth: 311.448344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.448344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795647; longitude = -121.852012; captureRadius = 10; duration = 205; # abortOnTimeout = True; initialDepth = 264.814168; finalDepth = 261.448344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 261.448344 # Seafloor depth: -311.448344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.115532 meters # Minimum depth: 314.814168 meters looking forward 0.000000 meters along route # Maximum depth: 314.814168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.814168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796191; longitude = -121.852946; captureRadius = 10; duration = 152; initialDepth = 266.828593; finalDepth = 264.814168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 264.814168 # Seafloor depth: -314.814168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59.366202 meters # Minimum depth: 316.828593 meters looking forward 0.000000 meters along route # Maximum depth: 316.828593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.828593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796593; longitude = -121.853637; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 270.876397; finalDepth = 266.828593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 266.828593 # Seafloor depth: -316.828593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.431489 meters # Minimum depth: 320.876397 meters looking forward 0.000000 meters along route # Maximum depth: 320.876397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.876397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797059; longitude = -121.853964; captureRadius = 10; duration = 160; initialDepth = 273.382545; finalDepth = 270.876397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 270.876397 # Seafloor depth: -320.876397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.601267 meters # Minimum depth: 323.382545 meters looking forward 0.000000 meters along route # Maximum depth: 323.382545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.382545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797689; longitude = -121.854409; captureRadius = 10; duration = 153; initialDepth = 274.777466; finalDepth = 273.382545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 273.382545 # Seafloor depth: -323.382545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 109.996800 meters # Minimum depth: 324.777466 meters looking forward 0.000000 meters along route # Maximum depth: 324.777466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.777466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798290; longitude = -121.854832; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 271.782813; finalDepth = 274.777466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 274.777466 # Seafloor depth: -324.777466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 81.397329 meters # Minimum depth: 321.782813 meters looking forward 0.000000 meters along route # Maximum depth: 321.782813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.782813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799041; longitude = -121.855637; captureRadius = 10; duration = 162; initialDepth = 271.743876; finalDepth = 271.782813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.782813 # Seafloor depth: -321.782813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 110.460582 meters # Minimum depth: 321.743876 meters looking forward 0.000000 meters along route # Maximum depth: 321.743876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.743876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799597; longitude = -121.856232; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 277.175749; finalDepth = 271.743876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.743876 # Seafloor depth: -321.743876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.322124 meters # Minimum depth: 327.175749 meters looking forward 0.000000 meters along route # Maximum depth: 327.175749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.175749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800348; longitude = -121.857045; captureRadius = 10; duration = 154; initialDepth = 278.436605; finalDepth = 277.175749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 277.175749 # Seafloor depth: -327.175749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 89.908118 meters # Minimum depth: 328.436605 meters looking forward 0.000000 meters along route # Maximum depth: 328.436605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.436605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800874; longitude = -121.857614; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 280.369080; finalDepth = 278.436605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 278.436605 # Seafloor depth: -328.436605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.421645 meters # Minimum depth: 330.369080 meters looking forward 0.000000 meters along route # Maximum depth: 330.369080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.369080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801475; longitude = -121.858290; captureRadius = 10; duration = 152; initialDepth = 285.602254; finalDepth = 280.369080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 280.36908 # Seafloor depth: -330.369080 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 62.878981 meters # Minimum depth: 335.602254 meters looking forward 0.000000 meters along route # Maximum depth: 335.602254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.602254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801985; longitude = -121.858865; captureRadius = 10; duration = 125; # abortOnTimeout = True; initialDepth = 293.418793; finalDepth = 285.602254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 285.602254 # Seafloor depth: -335.602254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.598583 meters # Minimum depth: 343.418793 meters looking forward 0.000000 meters along route # Maximum depth: 343.418793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.418793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802466; longitude = -121.858492; captureRadius = 10; duration = 157; initialDepth = 283.850403; finalDepth = 293.418793; 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: 293.418793 # Seafloor depth: -343.418793 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 57.803659 meters # Minimum depth: 333.850403 meters looking forward 0.000000 meters along route # Maximum depth: 333.850403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.850403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803067; longitude = -121.858025; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 285.996465; finalDepth = 283.850403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 283.850403 # Seafloor depth: -333.850403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.742963 meters # Minimum depth: 335.996465 meters looking forward 0.000000 meters along route # Maximum depth: 335.996465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.996465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802781; longitude = -121.857483; captureRadius = 10; duration = 151; initialDepth = 287.115194; finalDepth = 285.996465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 285.996465 # Seafloor depth: -335.996465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 75.273703 meters # Minimum depth: 337.115194 meters looking forward 0.000000 meters along route # Maximum depth: 337.115194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.115194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802406; longitude = -121.856774; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 284.820030; finalDepth = 287.115194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 287.115194 # Seafloor depth: -337.115194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.701847 meters # Minimum depth: 334.820030 meters looking forward 0.000000 meters along route # Maximum depth: 334.820030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.820030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801959; longitude = -121.856139; captureRadius = 10; duration = 159; initialDepth = 278.073006; finalDepth = 284.820030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 284.82003 # Seafloor depth: -334.820030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 75.274230 meters # Minimum depth: 328.073006 meters looking forward 0.000000 meters along route # Maximum depth: 328.073006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.073006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801486; longitude = -121.855467; captureRadius = 10; duration = 150; initialDepth = 263.833740; finalDepth = 278.073006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 278.073006 # Seafloor depth: -328.073006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 70.359780 meters # Minimum depth: 313.833740 meters looking forward 0.000000 meters along route # Maximum depth: 313.833740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.833740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801039; longitude = -121.854832; captureRadius = 10; duration = 140; # abortOnTimeout = True; initialDepth = 265.669777; finalDepth = 263.833740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 263.83374 # Seafloor depth: -313.833740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.110546 meters # Minimum depth: 315.669777 meters looking forward 0.000000 meters along route # Maximum depth: 315.669777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.669777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800480; longitude = -121.854458; captureRadius = 10; duration = 158; initialDepth = 256.420932; finalDepth = 265.669777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 265.669777 # Seafloor depth: -315.669777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 75.681377 meters # Minimum depth: 306.420932 meters looking forward 0.000000 meters along route # Maximum depth: 306.420932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.420932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799852; longitude = -121.854038; captureRadius = 10; duration = 151; initialDepth = 257.552653; finalDepth = 256.420932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 256.420932 # Seafloor depth: -306.420932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 128.630517 meters # Minimum depth: 307.552653 meters looking forward 0.000000 meters along route # Maximum depth: 307.552653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.552653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799252; longitude = -121.853637; captureRadius = 10; duration = 257; # abortOnTimeout = True; initialDepth = 250.936798; finalDepth = 257.552653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 257.552653 # Seafloor depth: -307.552653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.753684 meters # Minimum depth: 300.936798 meters looking forward 0.000000 meters along route # Maximum depth: 300.936798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.936798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798356; longitude = -121.852722; captureRadius = 10; duration = 157; initialDepth = 246.529323; finalDepth = 250.936798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 250.936798 # Seafloor depth: -300.936798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.753915 meters # Minimum depth: 296.529323 meters looking forward 0.000000 meters along route # Maximum depth: 296.529323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.529323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797807; longitude = -121.852161; captureRadius = 10; duration = 157; initialDepth = 249.292780; finalDepth = 246.529323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 246.529323 # Seafloor depth: -296.529323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 76.129005 meters # Minimum depth: 299.292780 meters looking forward 0.000000 meters along route # Maximum depth: 299.292780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.292780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797258; longitude = -121.851601; captureRadius = 10; duration = 152; initialDepth = 247.553385; finalDepth = 249.292780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 249.29278 # Seafloor depth: -299.292780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 126.499886 meters # Minimum depth: 297.553385 meters looking forward 0.000000 meters along route # Maximum depth: 297.553385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.553385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796728; longitude = -121.851060; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 244.690964; finalDepth = 247.553385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 247.553385 # Seafloor depth: -297.553385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.900275 meters # Minimum depth: 294.690964 meters looking forward 0.000000 meters along route # Maximum depth: 294.690964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.690964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796202; longitude = -121.849802; captureRadius = 10; duration = 151; initialDepth = 246.568054; finalDepth = 244.690964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 244.690964 # Seafloor depth: -294.690964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 75.900532 meters # Minimum depth: 296.568054 meters looking forward 0.000000 meters along route # Maximum depth: 296.568054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.568054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795887; longitude = -121.849047; captureRadius = 10; duration = 151; initialDepth = 247.228293; finalDepth = 246.568054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 246.568054 # Seafloor depth: -296.568054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 78.435514 meters # Minimum depth: 297.228293 meters looking forward 0.000000 meters along route # Maximum depth: 297.228293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.228293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795572; longitude = -121.848292; captureRadius = 10; duration = 156; initialDepth = 245.517452; finalDepth = 247.228293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 247.228293 # Seafloor depth: -297.228293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.980664 meters # Minimum depth: 295.517452 meters looking forward 0.000000 meters along route # Maximum depth: 295.517452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.517452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795246; longitude = -121.847512; captureRadius = 10; duration = 153; initialDepth = 241.219788; finalDepth = 245.517452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 245.517452 # Seafloor depth: -295.517452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 57.825989 meters # Minimum depth: 291.219788 meters looking forward 0.000000 meters along route # Maximum depth: 291.219788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.219788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794926; longitude = -121.846746; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 240.874037; finalDepth = 241.219788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 241.219788 # Seafloor depth: -291.219788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.956017 meters # Minimum depth: 290.874037 meters looking forward 0.000000 meters along route # Maximum depth: 290.874037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.874037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794670; longitude = -121.846181; captureRadius = 10; duration = 151; initialDepth = 239.355361; finalDepth = 240.874037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 240.874037 # Seafloor depth: -290.874037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.269597 meters # Minimum depth: 289.355361 meters looking forward 0.000000 meters along route # Maximum depth: 289.355361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.355361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794335; longitude = -121.845439; captureRadius = 10; duration = 160; initialDepth = 237.217304; finalDepth = 239.355361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 239.355361 # Seafloor depth: -289.355361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.269890 meters # Minimum depth: 287.217304 meters looking forward 0.000000 meters along route # Maximum depth: 287.217304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.217304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793980; longitude = -121.844655; captureRadius = 10; duration = 160; initialDepth = 234.501754; finalDepth = 237.217304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 237.217304 # Seafloor depth: -287.217304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.447788 meters # Minimum depth: 284.501754 meters looking forward 0.000000 meters along route # Maximum depth: 284.501754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.501754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793626; longitude = -121.843871; captureRadius = 10; duration = 152; initialDepth = 231.739827; finalDepth = 234.501754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 234.501754 # Seafloor depth: -284.501754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 101.634172 meters # Minimum depth: 281.739827 meters looking forward 0.000000 meters along route # Maximum depth: 281.739827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.739827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793288; longitude = -121.843124; captureRadius = 10; duration = 203; # abortOnTimeout = True; initialDepth = 229.006765; finalDepth = 231.739827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 231.739827 # Seafloor depth: -281.739827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 77.517800 meters # Minimum depth: 279.006765 meters looking forward 0.000000 meters along route # Maximum depth: 279.006765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.006765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793056; longitude = -121.842022; captureRadius = 10; duration = 155; initialDepth = 224.755706; finalDepth = 229.006765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 229.006765 # Seafloor depth: -279.006765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 77.517981 meters # Minimum depth: 274.755706 meters looking forward 0.000000 meters along route # Maximum depth: 274.755706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.755706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792878; longitude = -121.841182; captureRadius = 10; duration = 155; initialDepth = 220.650644; finalDepth = 224.755706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 224.755706 # Seafloor depth: -274.755706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 77.518163 meters # Minimum depth: 270.650644 meters looking forward 0.000000 meters along route # Maximum depth: 270.650644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 220.650644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792701; longitude = -121.840341; captureRadius = 10; duration = 155; initialDepth = 216.182561; finalDepth = 220.650644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 220.650644 # Seafloor depth: -270.650644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 79.240977 meters # Minimum depth: 266.182561 meters looking forward 0.000000 meters along route # Maximum depth: 266.182561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 216.182561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792524; longitude = -121.839501; captureRadius = 10; duration = 158; initialDepth = 213.463460; finalDepth = 216.182561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 216.182561 # Seafloor depth: -266.182561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 83.351671 meters # Minimum depth: 263.463460 meters looking forward 0.000000 meters along route # Maximum depth: 263.463460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.463460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792342; longitude = -121.838642; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 211.728219; finalDepth = 213.463460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 213.46346 # Seafloor depth: -263.463460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.016542 meters # Minimum depth: 261.728219 meters looking forward 0.000000 meters along route # Maximum depth: 261.728219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.728219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792318; longitude = -121.837709; captureRadius = 10; duration = 150; initialDepth = 210.693004; finalDepth = 211.728219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 211.728219 # Seafloor depth: -261.728219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 75.016577 meters # Minimum depth: 260.693004 meters looking forward 0.000000 meters along route # Maximum depth: 260.693004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.693004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792296; longitude = -121.836868; captureRadius = 10; duration = 150; initialDepth = 209.536940; finalDepth = 210.693004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 210.693004 # Seafloor depth: -260.693004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.683649 meters # Minimum depth: 259.536940 meters looking forward 0.000000 meters along route # Maximum depth: 259.536940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.536940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792274; longitude = -121.836028; captureRadius = 10; duration = 153; initialDepth = 204.100667; finalDepth = 209.536940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 209.53694 # Seafloor depth: -259.536940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 58.723941 meters # Minimum depth: 254.100667 meters looking forward 0.000000 meters along route # Maximum depth: 254.100667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 204.100667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792252; longitude = -121.835169; captureRadius = 10; duration = 117; # abortOnTimeout = True; initialDepth = 201.555435; finalDepth = 204.100667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 204.100667 # Seafloor depth: -254.100667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.075396 meters # Minimum depth: 251.555435 meters looking forward 0.000000 meters along route # Maximum depth: 251.555435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.555435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792030; longitude = -121.834572; captureRadius = 10; duration = 154; initialDepth = 190.537657; finalDepth = 201.555435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 201.555435 # Seafloor depth: -251.555435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.910788 meters # Minimum depth: 240.537657 meters looking forward 0.000000 meters along route # Maximum depth: 240.537657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.537657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791739; longitude = -121.833787; captureRadius = 10; duration = 157; initialDepth = 185.829549; finalDepth = 190.537657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 190.537657 # Seafloor depth: -240.537657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 70.178133 meters # Minimum depth: 235.829549 meters looking forward 0.000000 meters along route # Maximum depth: 235.829549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.829549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791441; longitude = -121.832984; captureRadius = 10; duration = 140; # abortOnTimeout = True; initialDepth = 180.135824; finalDepth = 185.829549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 185.829549 # Seafloor depth: -235.829549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.191104 meters # Minimum depth: 230.135824 meters looking forward 0.000000 meters along route # Maximum depth: 230.135824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.135824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791020; longitude = -121.832397; captureRadius = 10; duration = 150; initialDepth = 173.121198; finalDepth = 180.135824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.135824 # Seafloor depth: -230.135824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.697740 meters # Minimum depth: 223.121198 meters looking forward 0.000000 meters along route # Maximum depth: 223.121198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.121198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790570; longitude = -121.831768; captureRadius = 10; duration = 155; initialDepth = 179.433777; finalDepth = 173.121198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 173.121198 # Seafloor depth: -223.121198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 116.639576 meters # Minimum depth: 229.433777 meters looking forward 0.000000 meters along route # Maximum depth: 229.433777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.433777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790104; longitude = -121.831117; captureRadius = 10; duration = 233; # abortOnTimeout = True; initialDepth = 176.995251; finalDepth = 179.433777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 179.433777 # Seafloor depth: -229.433777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.648891 meters # Minimum depth: 226.995251 meters looking forward 0.000000 meters along route # Maximum depth: 226.995251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.995251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790095; longitude = -121.829810; captureRadius = 10; duration = 153; initialDepth = 178.342122; finalDepth = 176.995251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 176.995251 # Seafloor depth: -226.995251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 83.698692 meters # Minimum depth: 228.342122 meters looking forward 0.000000 meters along route # Maximum depth: 228.342122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.342122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790089; longitude = -121.828951; captureRadius = 10; duration = 167; # abortOnTimeout = True; initialDepth = 178.561472; finalDepth = 178.342122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.342122 # Seafloor depth: -228.342122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 78.642468 meters # Minimum depth: 228.561472 meters looking forward 0.000000 meters along route # Maximum depth: 228.561472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.561472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790453; longitude = -121.828129; captureRadius = 10; duration = 157; initialDepth = 178.210520; finalDepth = 178.561472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.561472 # Seafloor depth: -228.561472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 75.438464 meters # Minimum depth: 228.210520 meters looking forward 0.000000 meters along route # Maximum depth: 228.210520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.210520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790795; longitude = -121.827357; captureRadius = 10; duration = 150; initialDepth = 177.109802; finalDepth = 178.210520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 178.21052 # Seafloor depth: -228.210520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 79.993551 meters # Minimum depth: 227.109802 meters looking forward 0.000000 meters along route # Maximum depth: 227.109802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.109802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791123; longitude = -121.826617; captureRadius = 10; duration = 159; initialDepth = 175.833955; finalDepth = 177.109802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 177.109802 # Seafloor depth: -227.109802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 75.988625 meters # Minimum depth: 225.833955 meters looking forward 0.000000 meters along route # Maximum depth: 225.833955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.833955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791471; longitude = -121.825832; captureRadius = 10; duration = 151; initialDepth = 173.209635; finalDepth = 175.833955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 175.833955 # Seafloor depth: -225.833955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 89.817617 meters # Minimum depth: 223.209635 meters looking forward 0.000000 meters along route # Maximum depth: 223.209635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.209635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791801; longitude = -121.825086; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 159.529002; finalDepth = 173.209635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 173.209635 # Seafloor depth: -223.209635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.381837 meters # Minimum depth: 209.529002 meters looking forward 0.000000 meters along route # Maximum depth: 209.529002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.529002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792507; longitude = -121.824593; captureRadius = 10; duration = 160; initialDepth = 154.541330; finalDepth = 159.529002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 159.529002 # Seafloor depth: -209.529002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 80.142818 meters # Minimum depth: 204.541330 meters looking forward 0.000000 meters along route # Maximum depth: 204.541330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.541330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793139; longitude = -121.824152; captureRadius = 10; duration = 160; initialDepth = 152.558912; finalDepth = 154.541330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.54133 # Seafloor depth: -204.541330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 76.440111 meters # Minimum depth: 202.558912 meters looking forward 0.000000 meters along route # Maximum depth: 202.558912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.558912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793769; longitude = -121.823712; captureRadius = 10; duration = 152; initialDepth = 155.739848; finalDepth = 152.558912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 152.558912 # Seafloor depth: -202.558912 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 89.752472 meters # Minimum depth: 205.739848 meters looking forward 0.000000 meters along route # Maximum depth: 205.739848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.739848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794370; longitude = -121.823293; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 127.235808; finalDepth = 155.739848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 155.739848 # Seafloor depth: -205.739848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.141315 meters # Minimum depth: 177.235808 meters looking forward 0.000000 meters along route # Maximum depth: 177.235808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.235808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794857; longitude = -121.824096; captureRadius = 10; duration = 150; initialDepth = 100.886205; finalDepth = 127.235808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 127.235808 # Seafloor depth: -177.235808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.141051 meters # Minimum depth: 150.886205 meters looking forward 0.000000 meters along route # Maximum depth: 150.886205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.886205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795265; longitude = -121.824768; captureRadius = 10; duration = 150; initialDepth = 71.442299; finalDepth = 100.886205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 100.886205 # Seafloor depth: -150.886205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.140788 meters # Minimum depth: 121.442299 meters looking forward 0.000000 meters along route # Maximum depth: 121.442299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.442299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795673; longitude = -121.825441; captureRadius = 10; duration = 150; initialDepth = 41.138879; finalDepth = 71.442299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 71.442299 # Seafloor depth: -121.442299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 75.140523 meters # Minimum depth: 91.138879 meters looking forward 0.000000 meters along route # Maximum depth: 91.138879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.138879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796081; longitude = -121.826113; captureRadius = 10; duration = 150; initialDepth = 36.634123; finalDepth = 41.138879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 41.138879 # Seafloor depth: -91.138879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 77.227486 meters # Minimum depth: 86.634123 meters looking forward 0.000000 meters along route # Maximum depth: 86.634123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.634123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796489; longitude = -121.826785; captureRadius = 10; duration = 154; initialDepth = 33.708028; finalDepth = 36.634123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 36.634123 # Seafloor depth: -86.634123 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 33.708028 # Seafloor depth: -83.708028 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 83.708028 meters looking forward 0.000000 meters along route # Maximum depth: 83.708028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 335.620239 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 33.708028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796908; longitude = -121.827476; captureRadius = 10; duration = 600; initialDepth = 33.708028; finalDepth = 33.708028; 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 = 126.335183; 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 = 126.335183; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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