# 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: LuciaMAUV1v4.rte # Mission File: LuciaMAUV1v4.cfg # Distance: 42175.873175 (m) # Estimated Time: 31669 (s) 8.797 (hr) # Abort Time: 32137 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 2062 (s) # Way Points: 34 # Route Points: 401 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # # 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: 1020 (m) # Abort Vehicle Depth: 1040 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 0.583 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.767094 35.738762 -973.841888 0.000000 3 # 1 -121.775516 35.727800 -983.029678 1434.857143 4 # 2 -121.777543 35.727708 -982.879898 1618.483147 3 # 3 -121.768494 35.739486 -975.956696 3160.150866 4 # 4 -121.769895 35.740210 -977.894562 3310.161311 3 # 5 -121.779478 35.727708 -984.693344 4945.526224 4 # 6 -121.781597 35.727524 -984.961197 5138.273667 3 # 7 -121.771296 35.740935 -981.277252 6893.559566 4 # 8 -121.772696 35.741659 -983.373047 7043.491603 3 # 9 -121.783348 35.727708 -987.473312 8866.396502 4 # 10 -121.785467 35.727800 -987.858185 9058.331232 3 # 11 -121.774097 35.742383 -982.571930 10975.151980 4 # 12 -121.775498 35.743108 -985.969711 11125.217775 3 # 13 -121.787107 35.728182 -990.383087 13085.740543 4 # 14 -121.788507 35.728906 -991.714661 13235.688959 3 # 15 -121.776898 35.743832 -987.546143 15196.206127 4 # 16 -121.778299 35.744556 -990.892197 15346.210472 3 # 17 -121.789908 35.729630 -995.750824 17306.722039 4 # 18 -121.791309 35.730354 -994.262741 17456.744816 3 # 19 -121.779386 35.745767 -992.130371 19478.084739 4 # 20 -121.780215 35.747149 -994.358215 19648.733122 3 # 21 -121.792709 35.731078 -997.780273 21759.354391 4 # 22 -121.794110 35.731802 -1000.898376 21909.375138 3 # 23 -121.781045 35.748531 -996.467178 24109.286732 4 # 24 -121.781874 35.749913 -998.899658 24279.933968 3 # 25 -121.800116 35.726695 -1005.843979 27338.501914 4 # 26 -121.801498 35.727524 -1008.536453 27493.684733 3 # 27 -121.780215 35.754612 -1002.690063 31062.043028 4 # 28 -121.781137 35.755625 -1002.837708 31201.959699 1 # 29 -121.803433 35.727524 -1014.083252 34914.380714 1 # 30 -121.795694 35.739409 -1005.601700 36407.019073 3 # 31 -121.773397 35.728261 -980.976639 38772.583772 4 # 32 -121.767316 35.736277 -969.369827 39818.122029 3 # 33 -121.789982 35.746780 -1005.124420 42175.873175 4 # # A total of 401 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 32137; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1020.000000; abortDepth = 1040.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2062; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 33 # Segment length 82.696742 meters # Minimum depth: 1002.266822 meters looking forward 100.000000 meters along route # Maximum depth: 1006.831458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.266822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746780; longitude = -121.789982; captureRadius = 10; duration = 82; initialDepth = 952.266822; finalDepth = 952.266822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8575979999999 # Actual altitude: 52.8575979999999 # Commanded vehicle depth:952.266822 # Seafloor depth:-1005.124420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.017707 meters # Minimum depth: 1000.472263 meters looking forward 100.000000 meters along route # Maximum depth: 1003.819310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.472263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.789187; captureRadius = 10; duration = 109; initialDepth = 950.472263; finalDepth = 952.266822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8575979999999 # Actual altitude: 52.8575979999999 # Commanded vehicle depth:950.472263 # Seafloor depth:-1001.628956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.003020 meters # Minimum depth: 995.195596 meters looking forward 100.000000 meters along route # Maximum depth: 1000.335707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.195596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745926; longitude = -121.788139; captureRadius = 10; duration = 115; initialDepth = 945.195596; finalDepth = 950.472263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1401109999999 # Actual altitude: 55.1401109999999 # Commanded vehicle depth:945.195596 # Seafloor depth:-1000.335707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.003606 meters # Minimum depth: 997.196011 meters looking forward 100.000000 meters along route # Maximum depth: 997.716338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.196011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745414; longitude = -121.787033; captureRadius = 10; duration = 115; initialDepth = 947.196011; finalDepth = 945.195596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1401109999999 # Actual altitude: 55.1401109999999 # Commanded vehicle depth:947.196011 # Seafloor depth:-997.196011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.004192 meters # Minimum depth: 998.051924 meters looking forward 100.000000 meters along route # Maximum depth: 1000.804780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.051924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744901; longitude = -121.785928; captureRadius = 10; duration = 115; initialDepth = 948.051924; finalDepth = 947.196011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.051924 # Seafloor depth:-998.051924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.004778 meters # Minimum depth: 997.039490 meters looking forward 100.000000 meters along route # Maximum depth: 1000.665862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.039490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744389; longitude = -121.784822; captureRadius = 10; duration = 115; initialDepth = 947.039490; finalDepth = 948.051924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.325819 # Actual altitude: 53.325819 # Commanded vehicle depth:947.03949 # Seafloor depth:-1000.365309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.005363 meters # Minimum depth: 996.836949 meters looking forward 100.000000 meters along route # Maximum depth: 1002.565700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.836949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743877; longitude = -121.783716; captureRadius = 10; duration = 115; initialDepth = 946.836949; finalDepth = 947.039490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.325819 # Actual altitude: 53.325819 # Commanded vehicle depth:946.836949 # Seafloor depth:-999.158052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 122.562194 meters # Minimum depth: 987.817379 meters looking forward 100.000000 meters along route # Maximum depth: 996.690757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.817379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743364; longitude = -121.782611; captureRadius = 10; duration = 122; initialDepth = 937.817379; finalDepth = 946.836949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.873378 # Actual altitude: 58.873378 # Commanded vehicle depth:937.817379 # Seafloor depth:-996.690757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 107.450292 meters # Minimum depth: 987.241643 meters looking forward 100.000000 meters along route # Maximum depth: 987.888718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.241643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.781433; captureRadius = 10; duration = 107; initialDepth = 937.241643; finalDepth = 937.817379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.873378 # Actual altitude: 58.873378 # Commanded vehicle depth:937.241643 # Seafloor depth:-987.871468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.007121 meters # Minimum depth: 984.908443 meters looking forward 100.000000 meters along route # Maximum depth: 987.635059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.908443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742340; longitude = -121.780400; captureRadius = 10; duration = 115; initialDepth = 934.908443; finalDepth = 937.241643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7266159999999 # Actual altitude: 52.7266159999999 # Commanded vehicle depth:934.908443 # Seafloor depth:-987.635059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.007708 meters # Minimum depth: 984.611989 meters looking forward 100.000000 meters along route # Maximum depth: 986.880238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.611989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741827; longitude = -121.779294; captureRadius = 10; duration = 115; initialDepth = 934.611989; finalDepth = 934.908443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7266159999999 # Actual altitude: 52.7266159999999 # Commanded vehicle depth:934.611989 # Seafloor depth:-985.599826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.008293 meters # Minimum depth: 982.314180 meters looking forward 100.000000 meters along route # Maximum depth: 984.311973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.314180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741315; longitude = -121.778188; captureRadius = 10; duration = 115; initialDepth = 932.314180; finalDepth = 934.611989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.997793 # Actual altitude: 51.997793 # Commanded vehicle depth:932.31418 # Seafloor depth:-984.311973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 207.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.008880 meters # Minimum depth: 979.161908 meters looking forward 100.000000 meters along route # Maximum depth: 981.733587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.161908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740803; longitude = -121.777083; captureRadius = 10; duration = 115; initialDepth = 929.161908; finalDepth = 932.314180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5716789999999 # Actual altitude: 52.5716789999999 # Commanded vehicle depth:929.161908 # Seafloor depth:-981.733587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.048640 meters # Minimum depth: 977.908829 meters looking forward 100.000000 meters along route # Maximum depth: 980.944402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.908829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740290; longitude = -121.775977; captureRadius = 10; duration = 115; initialDepth = 927.908829; finalDepth = 929.161908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.035573 # Actual altitude: 53.035573 # Commanded vehicle depth:927.908829 # Seafloor depth:-980.944402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 124.098751 meters # Minimum depth: 977.323676 meters looking forward 100.000000 meters along route # Maximum depth: 979.117749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.323676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.774871; captureRadius = 10; duration = 124; initialDepth = 927.323676; finalDepth = 927.908829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.035573 # Actual altitude: 53.035573 # Commanded vehicle depth:927.323676 # Seafloor depth:-977.909173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 105.882765 meters # Minimum depth: 977.126546 meters looking forward 100.000000 meters along route # Maximum depth: 978.317577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.126546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.773678; captureRadius = 10; duration = 105; initialDepth = 927.126546; finalDepth = 927.323676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.585497 # Actual altitude: 50.585497 # Commanded vehicle depth:927.126546 # Seafloor depth:-977.281235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.011224 meters # Minimum depth: 974.686372 meters looking forward 100.000000 meters along route # Maximum depth: 977.275635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.686372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738753; longitude = -121.772660; captureRadius = 10; duration = 115; initialDepth = 924.686372; finalDepth = 927.126546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.583538 # Actual altitude: 51.583538 # Commanded vehicle depth:924.686372 # Seafloor depth:-976.269910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.011811 meters # Minimum depth: 974.161465 meters looking forward 100.000000 meters along route # Maximum depth: 976.975127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.161465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738241; longitude = -121.771555; captureRadius = 10; duration = 115; initialDepth = 924.161465; finalDepth = 924.686372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.813662 # Actual altitude: 52.813662 # Commanded vehicle depth:924.161465 # Seafloor depth:-976.975127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 115.012396 meters # Minimum depth: 971.880549 meters looking forward 100.000000 meters along route # Maximum depth: 973.762778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.880549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737729; longitude = -121.770449; captureRadius = 10; duration = 115; initialDepth = 921.880549; finalDepth = 924.161465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.813662 # Actual altitude: 52.813662 # Commanded vehicle depth:921.880549 # Seafloor depth:-973.207072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 107.534630 meters # Minimum depth: 971.545019 meters looking forward 100.000000 meters along route # Maximum depth: 972.751855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.545019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737216; longitude = -121.769343; captureRadius = 10; duration = 107; initialDepth = 921.545019; finalDepth = 921.880549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3265230000001 # Actual altitude: 51.3265230000001 # Commanded vehicle depth:921.545019 # Seafloor depth:-972.751855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 103.371033 meters # Minimum depth: 969.903445 meters looking forward 100.000000 meters along route # Maximum depth: 971.063859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.903445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.768310; captureRadius = 10; duration = 103; initialDepth = 919.903445; finalDepth = 921.545019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.206836 # Actual altitude: 51.206836 # Commanded vehicle depth:919.903445 # Seafloor depth:-971.063859 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 48.096111 meters # Minimum depth: 969.369827 meters looking forward 100.000000 meters along route # Maximum depth: 970.014327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.369827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736277; longitude = -121.767316; captureRadius = 10; duration = 48; initialDepth = 919.369827; finalDepth = 919.903445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1604139999999 # Actual altitude: 51.1604139999999 # Commanded vehicle depth:919.369827 # Seafloor depth:-969.369827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.393530 meters # Minimum depth: 966.933035 meters looking forward 100.000000 meters along route # Maximum depth: 975.215363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.933035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.767596; captureRadius = 10; duration = 110; initialDepth = 916.933035; finalDepth = 919.369827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.237512 # Actual altitude: 51.237512 # Commanded vehicle depth:916.933035 # Seafloor depth:-968.170547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.915018 meters # Minimum depth: 975.710802 meters looking forward 100.000000 meters along route # Maximum depth: 988.972047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.710802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735062; longitude = -121.768238; captureRadius = 10; duration = 105; initialDepth = 925.710802; finalDepth = 916.933035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.237512 # Actual altitude: 51.237512 # Commanded vehicle depth:925.710802 # Seafloor depth:-975.710802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 108.154698 meters # Minimum depth: 976.516774 meters looking forward 100.000000 meters along route # Maximum depth: 988.949434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.516774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.768854; captureRadius = 10; duration = 108; initialDepth = 926.516774; finalDepth = 925.710802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4326599999999 # Actual altitude: 62.4326599999999 # Commanded vehicle depth:926.516774 # Seafloor depth:-988.949434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 249.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 108.154981 meters # Minimum depth: 972.045466 meters looking forward 100.000000 meters along route # Maximum depth: 973.007147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.045466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.769483; captureRadius = 10; duration = 108; initialDepth = 922.045466; finalDepth = 926.516774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4326599999999 # Actual altitude: 62.4326599999999 # Commanded vehicle depth:922.045466 # Seafloor depth:-972.824206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 249.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 108.155264 meters # Minimum depth: 971.607546 meters looking forward 100.000000 meters along route # Maximum depth: 974.037073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.607546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.770112; captureRadius = 10; duration = 108; initialDepth = 921.607546; finalDepth = 922.045466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.77874 # Actual altitude: 50.77874 # Commanded vehicle depth:921.607546 # Seafloor depth:-971.607546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 108.155548 meters # Minimum depth: 972.684792 meters looking forward 100.000000 meters along route # Maximum depth: 974.985095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.684792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.770741; captureRadius = 10; duration = 108; initialDepth = 922.684792; finalDepth = 921.607546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.684792 # Seafloor depth:-972.684792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 108.155829 meters # Minimum depth: 974.412902 meters looking forward 100.000000 meters along route # Maximum depth: 975.189290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.412902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.771370; captureRadius = 10; duration = 108; initialDepth = 924.412902; finalDepth = 922.684792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.412902 # Seafloor depth:-974.412902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 113.685950 meters # Minimum depth: 976.549859 meters looking forward 100.000000 meters along route # Maximum depth: 978.421585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.549859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.771999; captureRadius = 10; duration = 113; initialDepth = 926.549859; finalDepth = 924.412902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8717260000001 # Actual altitude: 51.8717260000001 # Commanded vehicle depth:926.549859 # Seafloor depth:-978.421585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 126.671328 meters # Minimum depth: 977.045405 meters looking forward 100.000000 meters along route # Maximum depth: 980.666023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.045405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729232; longitude = -121.772660; captureRadius = 10; duration = 126; initialDepth = 927.045405; finalDepth = 926.549859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8717260000001 # Actual altitude: 51.8717260000001 # Commanded vehicle depth:927.045405 # Seafloor depth:-977.045405 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 9.812157 meters # Minimum depth: 977.866068 meters looking forward 100.000000 meters along route # Maximum depth: 980.976639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.866068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728261; longitude = -121.773397; captureRadius = 10; duration = 9; initialDepth = 927.866068; finalDepth = 927.045405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1105709999999 # Actual altitude: 53.1105709999999 # Commanded vehicle depth:927.866068 # Seafloor depth:-980.976639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.304371 meters # Minimum depth: 980.832128 meters looking forward 100.000000 meters along route # Maximum depth: 982.089798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.832128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728307; longitude = -121.773489; captureRadius = 10; duration = 117; initialDepth = 930.832128; finalDepth = 927.866068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1105709999999 # Actual altitude: 53.1105709999999 # Commanded vehicle depth:930.832128 # Seafloor depth:-980.911435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.303752 meters # Minimum depth: 980.947617 meters looking forward 100.000000 meters along route # Maximum depth: 983.677658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.947617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728860; longitude = -121.774595; captureRadius = 10; duration = 117; initialDepth = 930.947617; finalDepth = 930.832128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.091418 # Actual altitude: 51.091418 # Commanded vehicle depth:930.947617 # Seafloor depth:-982.039035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.303134 meters # Minimum depth: 977.684923 meters looking forward 100.000000 meters along route # Maximum depth: 980.188335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.684923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729413; longitude = -121.775701; captureRadius = 10; duration = 117; initialDepth = 927.684923; finalDepth = 930.947617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.503412 # Actual altitude: 52.503412 # Commanded vehicle depth:927.684923 # Seafloor depth:-980.188335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.302516 meters # Minimum depth: 978.067648 meters looking forward 100.000000 meters along route # Maximum depth: 979.174135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.067648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729966; longitude = -121.776806; captureRadius = 10; duration = 117; initialDepth = 928.067648; finalDepth = 927.684923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.503412 # Actual altitude: 52.503412 # Commanded vehicle depth:928.067648 # Seafloor depth:-979.174135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.301897 meters # Minimum depth: 978.311249 meters looking forward 100.000000 meters along route # Maximum depth: 979.864049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.311249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730518; longitude = -121.777912; captureRadius = 10; duration = 117; initialDepth = 928.311249; finalDepth = 928.067648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.106487 # Actual altitude: 51.106487 # Commanded vehicle depth:928.311249 # Seafloor depth:-978.758242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.301280 meters # Minimum depth: 979.081042 meters looking forward 100.000000 meters along route # Maximum depth: 981.774291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.081042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731071; longitude = -121.779018; captureRadius = 10; duration = 117; initialDepth = 929.081042; finalDepth = 928.311249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.446993 # Actual altitude: 50.446993 # Commanded vehicle depth:929.081042 # Seafloor depth:-979.081042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.300660 meters # Minimum depth: 979.100607 meters looking forward 100.000000 meters along route # Maximum depth: 981.366538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.100607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731624; longitude = -121.780123; captureRadius = 10; duration = 117; initialDepth = 929.100607; finalDepth = 929.081042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.482106 # Actual altitude: 50.482106 # Commanded vehicle depth:929.100607 # Seafloor depth:-979.582713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.300043 meters # Minimum depth: 979.158392 meters looking forward 100.000000 meters along route # Maximum depth: 980.782476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.158392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732177; longitude = -121.781229; captureRadius = 10; duration = 117; initialDepth = 929.158392; finalDepth = 929.100607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1658699999999 # Actual altitude: 51.1658699999999 # Commanded vehicle depth:929.158392 # Seafloor depth:-980.324262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.299424 meters # Minimum depth: 978.937294 meters looking forward 100.000000 meters along route # Maximum depth: 981.954891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.937294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732730; longitude = -121.782334; captureRadius = 10; duration = 117; initialDepth = 928.937294; finalDepth = 929.158392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1658699999999 # Actual altitude: 51.1658699999999 # Commanded vehicle depth:928.937294 # Seafloor depth:-978.937294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.298807 meters # Minimum depth: 982.176167 meters looking forward 100.000000 meters along route # Maximum depth: 987.211237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.176167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733282; longitude = -121.783440; captureRadius = 10; duration = 117; initialDepth = 932.176167; finalDepth = 928.937294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.176167 # Seafloor depth:-982.176167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.298188 meters # Minimum depth: 984.636508 meters looking forward 100.000000 meters along route # Maximum depth: 987.160774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.636508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733835; longitude = -121.784546; captureRadius = 10; duration = 117; initialDepth = 934.636508; finalDepth = 932.176167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8615649999999 # Actual altitude: 50.8615649999999 # Commanded vehicle depth:934.636508 # Seafloor depth:-985.498073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.297569 meters # Minimum depth: 985.125204 meters looking forward 100.000000 meters along route # Maximum depth: 992.341458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.125204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734388; longitude = -121.785651; captureRadius = 10; duration = 117; initialDepth = 935.125204; finalDepth = 934.636508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8615649999999 # Actual altitude: 50.8615649999999 # Commanded vehicle depth:935.125204 # Seafloor depth:-985.125204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.296952 meters # Minimum depth: 987.255479 meters looking forward 100.000000 meters along route # Maximum depth: 990.098495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.255479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734941; longitude = -121.786757; captureRadius = 10; duration = 117; initialDepth = 937.255479; finalDepth = 935.125204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.331599 # Actual altitude: 51.331599 # Commanded vehicle depth:937.255479 # Seafloor depth:-988.587078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.296334 meters # Minimum depth: 990.319791 meters looking forward 100.000000 meters along route # Maximum depth: 992.307103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.319791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735493; longitude = -121.787862; captureRadius = 10; duration = 117; initialDepth = 940.319791; finalDepth = 937.255479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.331599 # Actual altitude: 51.331599 # Commanded vehicle depth:940.319791 # Seafloor depth:-990.319791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.295716 meters # Minimum depth: 994.190037 meters looking forward 100.000000 meters along route # Maximum depth: 996.269505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.190037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736046; longitude = -121.788968; captureRadius = 10; duration = 117; initialDepth = 944.190037; finalDepth = 940.319791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1478530000001 # Actual altitude: 50.1478530000001 # Commanded vehicle depth:944.190037 # Seafloor depth:-994.337890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.295097 meters # Minimum depth: 996.899364 meters looking forward 100.000000 meters along route # Maximum depth: 997.780527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.899364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736599; longitude = -121.790074; captureRadius = 10; duration = 117; initialDepth = 946.899364; finalDepth = 944.190037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1478530000001 # Actual altitude: 50.1478530000001 # Commanded vehicle depth:946.899364 # Seafloor depth:-996.972379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.294480 meters # Minimum depth: 995.787638 meters looking forward 100.000000 meters along route # Maximum depth: 1000.889574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.787638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737152; longitude = -121.791179; captureRadius = 10; duration = 117; initialDepth = 945.787638; finalDepth = 946.899364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.025047 # Actual altitude: 53.025047 # Commanded vehicle depth:945.787638 # Seafloor depth:-998.812685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.293861 meters # Minimum depth: 997.457678 meters looking forward 100.000000 meters along route # Maximum depth: 1000.690091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.457678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737705; longitude = -121.792285; captureRadius = 10; duration = 117; initialDepth = 947.457678; finalDepth = 945.787638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.025047 # Actual altitude: 53.025047 # Commanded vehicle depth:947.457678 # Seafloor depth:-998.873786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 117.293244 meters # Minimum depth: 999.023855 meters looking forward 100.000000 meters along route # Maximum depth: 1004.053767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.023855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738257; longitude = -121.793391; captureRadius = 10; duration = 117; initialDepth = 949.023855; finalDepth = 947.457678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.416108 # Actual altitude: 51.416108 # Commanded vehicle depth:949.023855 # Seafloor depth:-999.023855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 127.075217 meters # Minimum depth: 1003.718691 meters looking forward 100.000000 meters along route # Maximum depth: 1005.127022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.718691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738810; longitude = -121.794496; captureRadius = 10; duration = 127; initialDepth = 953.718691; finalDepth = 949.023855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.604661 # Actual altitude: 50.604661 # Commanded vehicle depth:953.718691 # Seafloor depth:-1004.323352 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 23.096290 meters # Minimum depth: 1004.968979 meters looking forward 100.000000 meters along route # Maximum depth: 1005.601700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.968979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739409; longitude = -121.795694; captureRadius = 10; duration = 23; initialDepth = 954.968979; finalDepth = 953.718691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6327210000001 # Actual altitude: 50.6327210000001 # Commanded vehicle depth:954.968979 # Seafloor depth:-1005.601700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.139385 meters # Minimum depth: 1004.767583 meters looking forward 100.000000 meters along route # Maximum depth: 1006.420402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.767583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.795814; captureRadius = 10; duration = 104; initialDepth = 954.767583; finalDepth = 954.968979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6327210000001 # Actual altitude: 50.6327210000001 # Commanded vehicle depth:954.767583 # Seafloor depth:-1005.198041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.139597 meters # Minimum depth: 1007.684412 meters looking forward 100.000000 meters along route # Maximum depth: 1009.639631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.684412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.796354; captureRadius = 10; duration = 104; initialDepth = 957.684412; finalDepth = 954.767583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8347660000001 # Actual altitude: 51.8347660000001 # Commanded vehicle depth:957.684412 # Seafloor depth:-1009.519178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.139811 meters # Minimum depth: 1006.165389 meters looking forward 100.000000 meters along route # Maximum depth: 1007.367875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.165389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.796894; captureRadius = 10; duration = 104; initialDepth = 956.165389; finalDepth = 957.684412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8347660000001 # Actual altitude: 51.8347660000001 # Commanded vehicle depth:956.165389 # Seafloor depth:-1006.165389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.140023 meters # Minimum depth: 1007.537256 meters looking forward 100.000000 meters along route # Maximum depth: 1013.687260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.537256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.797434; captureRadius = 10; duration = 104; initialDepth = 957.537256; finalDepth = 956.165389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.537256 # Seafloor depth:-1007.537256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.140236 meters # Minimum depth: 1012.006956 meters looking forward 100.000000 meters along route # Maximum depth: 1013.497859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.006956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.797974; captureRadius = 10; duration = 104; initialDepth = 962.006956; finalDepth = 957.537256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.006956 # Seafloor depth:-1012.006956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.140449 meters # Minimum depth: 1010.397175 meters looking forward 100.000000 meters along route # Maximum depth: 1014.795736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.397175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.798513; captureRadius = 10; duration = 104; initialDepth = 960.397175; finalDepth = 962.006956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3985610000001 # Actual altitude: 54.3985610000001 # Commanded vehicle depth:960.397175 # Seafloor depth:-1014.795736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.140662 meters # Minimum depth: 1010.102512 meters looking forward 100.000000 meters along route # Maximum depth: 1011.750288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.102512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.799053; captureRadius = 10; duration = 104; initialDepth = 960.102512; finalDepth = 960.397175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3985610000001 # Actual altitude: 54.3985610000001 # Commanded vehicle depth:960.102512 # Seafloor depth:-1011.750288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.140875 meters # Minimum depth: 1009.702914 meters looking forward 100.000000 meters along route # Maximum depth: 1011.185163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.702914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.799593; captureRadius = 10; duration = 104; initialDepth = 959.702914; finalDepth = 960.102512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6477759999999 # Actual altitude: 51.6477759999999 # Commanded vehicle depth:959.702914 # Seafloor depth:-1010.508052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.141088 meters # Minimum depth: 1011.598181 meters looking forward 100.000000 meters along route # Maximum depth: 1014.471496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.598181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.800133; captureRadius = 10; duration = 104; initialDepth = 961.598181; finalDepth = 959.702914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8051380000001 # Actual altitude: 50.8051380000001 # Commanded vehicle depth:961.598181 # Seafloor depth:-1011.598181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.141300 meters # Minimum depth: 1013.709887 meters looking forward 100.000000 meters along route # Maximum depth: 1016.279462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.709887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.800673; captureRadius = 10; duration = 104; initialDepth = 963.709887; finalDepth = 961.598181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.90455 # Actual altitude: 50.90455 # Commanded vehicle depth:963.709887 # Seafloor depth:-1014.614437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.141513 meters # Minimum depth: 1009.919856 meters looking forward 100.000000 meters along route # Maximum depth: 1012.835787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.919856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.801213; captureRadius = 10; duration = 104; initialDepth = 959.919856; finalDepth = 963.709887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.915931 # Actual altitude: 52.915931 # Commanded vehicle depth:959.919856 # Seafloor depth:-1012.835787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.141727 meters # Minimum depth: 1010.138382 meters looking forward 100.000000 meters along route # Maximum depth: 1011.455179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.138382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.801753; captureRadius = 10; duration = 104; initialDepth = 960.138382; finalDepth = 959.919856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.915931 # Actual altitude: 52.915931 # Commanded vehicle depth:960.138382 # Seafloor depth:-1011.437315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.141939 meters # Minimum depth: 1011.001875 meters looking forward 100.000000 meters along route # Maximum depth: 1012.970061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.001875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.802293; captureRadius = 10; duration = 104; initialDepth = 961.001875; finalDepth = 960.138382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.298933 # Actual altitude: 51.298933 # Commanded vehicle depth:961.001875 # Seafloor depth:-1011.641998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 115.713464 meters # Minimum depth: 1011.341838 meters looking forward 100.000000 meters along route # Maximum depth: 1015.089801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.341838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.802833; captureRadius = 10; duration = 115; initialDepth = 961.341838; finalDepth = 961.001875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6401229999999 # Actual altitude: 50.6401229999999 # Commanded vehicle depth:961.341838 # Seafloor depth:-1011.341838 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 85.207179 meters # Minimum depth: 1013.907418 meters looking forward 100.000000 meters along route # Maximum depth: 1015.084213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.907418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727524; longitude = -121.803433; captureRadius = 10; duration = 85; initialDepth = 963.907418; finalDepth = 961.341838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.175834 # Actual altitude: 50.175834 # Commanded vehicle depth:963.907418 # Seafloor depth:-1014.083252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 114.196266 meters # Minimum depth: 1010.740411 meters looking forward 100.000000 meters along route # Maximum depth: 1013.733570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.740411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.802921; captureRadius = 10; duration = 114; initialDepth = 960.740411; finalDepth = 963.907418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.993159 # Actual altitude: 52.993159 # Commanded vehicle depth:960.740411 # Seafloor depth:-1013.733570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.907192 meters # Minimum depth: 1010.075917 meters looking forward 100.000000 meters along route # Maximum depth: 1011.006553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.075917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729033; longitude = -121.802235; captureRadius = 10; duration = 104; initialDepth = 960.075917; finalDepth = 960.740411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.993159 # Actual altitude: 52.993159 # Commanded vehicle depth:960.075917 # Seafloor depth:-1010.601107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.551268 meters # Minimum depth: 1009.082882 meters looking forward 100.000000 meters along route # Maximum depth: 1009.915130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.082882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.801605; captureRadius = 10; duration = 109; initialDepth = 959.082882; finalDepth = 960.075917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8322479999999 # Actual altitude: 50.8322479999999 # Commanded vehicle depth:959.082882 # Seafloor depth:-1009.915130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.550961 meters # Minimum depth: 1009.788470 meters looking forward 100.000000 meters along route # Maximum depth: 1016.640224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.788470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.800948; captureRadius = 10; duration = 109; initialDepth = 959.788470; finalDepth = 959.082882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8322479999999 # Actual altitude: 50.8322479999999 # Commanded vehicle depth:959.78847 # Seafloor depth:-1009.788470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.550653 meters # Minimum depth: 1016.713940 meters looking forward 100.000000 meters along route # Maximum depth: 1019.163264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.713940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.800290; captureRadius = 10; duration = 109; initialDepth = 966.713940; finalDepth = 959.788470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.71394 # Seafloor depth:-1016.713940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 118.734688 meters # Minimum depth: 1013.821703 meters looking forward 100.000000 meters along route # Maximum depth: 1015.826497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.821703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.799632; captureRadius = 10; duration = 118; initialDepth = 963.821703; finalDepth = 966.713940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0047940000001 # Actual altitude: 52.0047940000001 # Commanded vehicle depth:963.821703 # Seafloor depth:-1015.826497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.365698 meters # Minimum depth: 1013.080400 meters looking forward 100.000000 meters along route # Maximum depth: 1015.796792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.080400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733214; longitude = -121.798919; captureRadius = 10; duration = 100; initialDepth = 963.080400; finalDepth = 963.821703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0047940000001 # Actual altitude: 52.0047940000001 # Commanded vehicle depth:963.0804 # Seafloor depth:-1013.904365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.549732 meters # Minimum depth: 1009.377802 meters looking forward 100.000000 meters along route # Maximum depth: 1016.281226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.377802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.798316; captureRadius = 10; duration = 109; initialDepth = 959.377802; finalDepth = 963.080400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.903424 # Actual altitude: 56.903424 # Commanded vehicle depth:959.377802 # Seafloor depth:-1016.281226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 227.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 112.252908 meters # Minimum depth: 1004.097890 meters looking forward 100.000000 meters along route # Maximum depth: 1006.850890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.097890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.797658; captureRadius = 10; duration = 112; initialDepth = 954.097890; finalDepth = 959.377802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.903424 # Actual altitude: 56.903424 # Commanded vehicle depth:954.09789 # Seafloor depth:-1006.850890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 227.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.845633 meters # Minimum depth: 1004.055714 meters looking forward 100.000000 meters along route # Maximum depth: 1006.157824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.055714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735652; longitude = -121.796984; captureRadius = 10; duration = 106; initialDepth = 954.055714; finalDepth = 954.097890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.753 # Actual altitude: 52.753 # Commanded vehicle depth:954.055714 # Seafloor depth:-1004.055714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.548810 meters # Minimum depth: 1005.882984 meters looking forward 100.000000 meters along route # Maximum depth: 1007.967154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.882984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.796342; captureRadius = 10; duration = 109; initialDepth = 955.882984; finalDepth = 954.055714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:955.882984 # Seafloor depth:-1005.882984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.548503 meters # Minimum depth: 1006.119721 meters looking forward 100.000000 meters along route # Maximum depth: 1008.812291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.119721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.795684; captureRadius = 10; duration = 109; initialDepth = 956.119721; finalDepth = 955.882984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.119721 # Seafloor depth:-1006.119721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.548196 meters # Minimum depth: 1003.646885 meters looking forward 100.000000 meters along route # Maximum depth: 1007.793993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.646885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.795026; captureRadius = 10; duration = 109; initialDepth = 953.646885; finalDepth = 956.119721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.147108 # Actual altitude: 54.147108 # Commanded vehicle depth:953.646885 # Seafloor depth:-1007.793993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 116.791256 meters # Minimum depth: 1001.573135 meters looking forward 100.000000 meters along route # Maximum depth: 1003.930209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.573135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.794368; captureRadius = 10; duration = 116; initialDepth = 951.573135; finalDepth = 953.646885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.147108 # Actual altitude: 54.147108 # Commanded vehicle depth:951.573135 # Seafloor depth:-1003.930209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.304213 meters # Minimum depth: 1001.590317 meters looking forward 100.000000 meters along route # Maximum depth: 1003.712478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.590317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739833; longitude = -121.793667; captureRadius = 10; duration = 102; initialDepth = 951.590317; finalDepth = 951.573135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.357074 # Actual altitude: 52.357074 # Commanded vehicle depth:951.590317 # Seafloor depth:-1001.650558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.547274 meters # Minimum depth: 1001.567135 meters looking forward 100.000000 meters along route # Maximum depth: 1005.582388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.567135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.793053; captureRadius = 10; duration = 109; initialDepth = 951.567135; finalDepth = 951.590317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.05132 # Actual altitude: 52.05132 # Commanded vehicle depth:951.567135 # Seafloor depth:-1003.618455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 110.309639 meters # Minimum depth: 1002.486658 meters looking forward 100.000000 meters along route # Maximum depth: 1005.904955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.486658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.792395; captureRadius = 10; duration = 110; initialDepth = 952.486658; finalDepth = 951.567135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.05132 # Actual altitude: 52.05132 # Commanded vehicle depth:952.486658 # Seafloor depth:-1004.315289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 108.783987 meters # Minimum depth: 998.341218 meters looking forward 100.000000 meters along route # Maximum depth: 1003.728001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.341218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742271; longitude = -121.791732; captureRadius = 10; duration = 108; initialDepth = 948.341218; finalDepth = 952.486658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3867829999999 # Actual altitude: 55.3867829999999 # Commanded vehicle depth:948.341218 # Seafloor depth:-1003.728001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.546353 meters # Minimum depth: 1000.498446 meters looking forward 100.000000 meters along route # Maximum depth: 1004.698882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.498446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.791079; captureRadius = 10; duration = 109; initialDepth = 950.498446; finalDepth = 948.341218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3867829999999 # Actual altitude: 55.3867829999999 # Commanded vehicle depth:950.498446 # Seafloor depth:-1001.744866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.546045 meters # Minimum depth: 1000.868103 meters looking forward 100.000000 meters along route # Maximum depth: 1004.485237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.868103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.790421; captureRadius = 10; duration = 109; initialDepth = 950.868103; finalDepth = 950.498446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.615989 # Actual altitude: 51.615989 # Commanded vehicle depth:950.868103 # Seafloor depth:-1002.484092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.545738 meters # Minimum depth: 1001.286659 meters looking forward 100.000000 meters along route # Maximum depth: 1004.480011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.286659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.789763; captureRadius = 10; duration = 109; initialDepth = 951.286659; finalDepth = 950.868103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.193352 # Actual altitude: 53.193352 # Commanded vehicle depth:951.286659 # Seafloor depth:-1004.480011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 114.847912 meters # Minimum depth: 1000.822455 meters looking forward 100.000000 meters along route # Maximum depth: 1004.250037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.822455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.789105; captureRadius = 10; duration = 114; initialDepth = 950.822455; finalDepth = 951.286659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.193352 # Actual altitude: 53.193352 # Commanded vehicle depth:950.822455 # Seafloor depth:-1001.010165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.242642 meters # Minimum depth: 1000.189716 meters looking forward 100.000000 meters along route # Maximum depth: 1007.972127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.189716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746452; longitude = -121.788415; captureRadius = 10; duration = 104; initialDepth = 950.189716; finalDepth = 950.822455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9360810000001 # Actual altitude: 50.9360810000001 # Commanded vehicle depth:950.189716 # Seafloor depth:-1001.125797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.544816 meters # Minimum depth: 1005.355257 meters looking forward 100.000000 meters along route # Maximum depth: 1009.545781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.355257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.787789; captureRadius = 10; duration = 109; initialDepth = 955.355257; finalDepth = 950.189716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.190524 # Actual altitude: 54.190524 # Commanded vehicle depth:955.355257 # Seafloor depth:-1009.545781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.544509 meters # Minimum depth: 997.995847 meters looking forward 100.000000 meters along route # Maximum depth: 1007.784122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.995847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.787131; captureRadius = 10; duration = 109; initialDepth = 947.995847; finalDepth = 955.355257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.788275 # Actual altitude: 59.788275 # Commanded vehicle depth:947.995847 # Seafloor depth:-1007.784122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.544202 meters # Minimum depth: 998.011519 meters looking forward 100.000000 meters along route # Maximum depth: 1006.261266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.011519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.786473; captureRadius = 10; duration = 109; initialDepth = 948.011519; finalDepth = 947.995847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.788275 # Actual altitude: 59.788275 # Commanded vehicle depth:948.011519 # Seafloor depth:-998.011519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.543895 meters # Minimum depth: 1000.935296 meters looking forward 100.000000 meters along route # Maximum depth: 1005.511517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.935296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.785815; captureRadius = 10; duration = 109; initialDepth = 950.935296; finalDepth = 948.011519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.935296 # Seafloor depth:-1000.935296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.543588 meters # Minimum depth: 1000.034044 meters looking forward 100.000000 meters along route # Maximum depth: 1002.623189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.034044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.785158; captureRadius = 10; duration = 109; initialDepth = 950.034044; finalDepth = 950.935296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.084296 # Actual altitude: 51.084296 # Commanded vehicle depth:950.034044 # Seafloor depth:-1001.118340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.543280 meters # Minimum depth: 1002.873898 meters looking forward 100.000000 meters along route # Maximum depth: 1009.409113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.873898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.784500; captureRadius = 10; duration = 109; initialDepth = 952.873898; finalDepth = 950.034044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.084296 # Actual altitude: 51.084296 # Commanded vehicle depth:952.873898 # Seafloor depth:-1002.873898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 112.904656 meters # Minimum depth: 1004.702037 meters looking forward 100.000000 meters along route # Maximum depth: 1007.854075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.702037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.783842; captureRadius = 10; duration = 112; initialDepth = 954.702037; finalDepth = 952.873898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2614129999999 # Actual altitude: 51.2614129999999 # Commanded vehicle depth:954.702037 # Seafloor depth:-1005.963450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.180984 meters # Minimum depth: 1003.417836 meters looking forward 100.000000 meters along route # Maximum depth: 1006.896970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.417836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753071; longitude = -121.783164; captureRadius = 10; duration = 106; initialDepth = 953.417836; finalDepth = 954.702037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.521165 # Actual altitude: 51.521165 # Commanded vehicle depth:953.417836 # Seafloor depth:-1004.939001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 123.924076 meters # Minimum depth: 1003.339522 meters looking forward 100.000000 meters along route # Maximum depth: 1008.048910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.339522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.782526; captureRadius = 10; duration = 123; initialDepth = 953.339522; finalDepth = 953.417836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.521165 # Actual altitude: 51.521165 # Commanded vehicle depth:953.339522 # Seafloor depth:-1003.339522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 107.324263 meters # Minimum depth: 1002.790625 meters looking forward 100.000000 meters along route # Maximum depth: 1005.283170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.790625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754813; longitude = -121.781782; captureRadius = 10; duration = 107; initialDepth = 952.790625; finalDepth = 953.339522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.790625 # Seafloor depth:-1002.790625 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 28.015967 meters # Minimum depth: 1002.837708 meters looking forward 100.000000 meters along route # Maximum depth: 1005.283170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.837708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755625; longitude = -121.781137; captureRadius = 10; duration = 28; initialDepth = 952.837708; finalDepth = 952.790625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.837708 # Seafloor depth:-1002.837708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 111.900704 meters # Minimum depth: 1001.435112 meters looking forward 100.000000 meters along route # Maximum depth: 1004.439321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.435112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755422; longitude = -121.780952; captureRadius = 10; duration = 111; initialDepth = 951.435112; finalDepth = 952.837708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.555089 # Actual altitude: 51.555089 # Commanded vehicle depth:951.435112 # Seafloor depth:-1002.990201 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 60.738676 meters # Minimum depth: 1001.435112 meters looking forward 100.000000 meters along route # Maximum depth: 1002.888786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.435112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754612; longitude = -121.780215; captureRadius = 10; duration = 60; initialDepth = 951.435112; finalDepth = 951.435112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.555089 # Actual altitude: 51.555089 # Commanded vehicle depth:951.435112 # Seafloor depth:-1002.690063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.229135 meters # Minimum depth: 1002.863813 meters looking forward 100.000000 meters along route # Maximum depth: 1007.962494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.863813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.780577; captureRadius = 10; duration = 109; initialDepth = 952.863813; finalDepth = 951.435112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.254951 # Actual altitude: 51.254951 # Commanded vehicle depth:952.863813 # Seafloor depth:-1002.863813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.229438 meters # Minimum depth: 1002.288270 meters looking forward 100.000000 meters along route # Maximum depth: 1005.149994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.288270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.781229; captureRadius = 10; duration = 109; initialDepth = 952.288270; finalDepth = 952.863813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.288941 # Actual altitude: 52.288941 # Commanded vehicle depth:952.28827 # Seafloor depth:-1004.577211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.229739 meters # Minimum depth: 1002.935314 meters looking forward 100.000000 meters along route # Maximum depth: 1003.910732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.935314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.781880; captureRadius = 10; duration = 109; initialDepth = 952.935314; finalDepth = 952.288270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.288941 # Actual altitude: 52.288941 # Commanded vehicle depth:952.935314 # Seafloor depth:-1003.910732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.230042 meters # Minimum depth: 1002.599065 meters looking forward 100.000000 meters along route # Maximum depth: 1003.764581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.599065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.782532; captureRadius = 10; duration = 109; initialDepth = 952.599065; finalDepth = 952.935314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9754180000001 # Actual altitude: 50.9754180000001 # Commanded vehicle depth:952.599065 # Seafloor depth:-1003.570492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.230343 meters # Minimum depth: 1002.470873 meters looking forward 100.000000 meters along route # Maximum depth: 1003.094989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.470873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.783183; captureRadius = 10; duration = 109; initialDepth = 952.470873; finalDepth = 952.599065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9714269999999 # Actual altitude: 50.9714269999999 # Commanded vehicle depth:952.470873 # Seafloor depth:-1002.470873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.230644 meters # Minimum depth: 998.965114 meters looking forward 100.000000 meters along route # Maximum depth: 1003.004359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.965114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.783835; captureRadius = 10; duration = 109; initialDepth = 948.965114; finalDepth = 952.470873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0392450000001 # Actual altitude: 54.0392450000001 # Commanded vehicle depth:948.965114 # Seafloor depth:-1003.004359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.230947 meters # Minimum depth: 999.935182 meters looking forward 100.000000 meters along route # Maximum depth: 1004.445322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.935182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.784486; captureRadius = 10; duration = 109; initialDepth = 949.935182; finalDepth = 948.965114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0392450000001 # Actual altitude: 54.0392450000001 # Commanded vehicle depth:949.935182 # Seafloor depth:-999.935182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.231248 meters # Minimum depth: 1000.964164 meters looking forward 100.000000 meters along route # Maximum depth: 1004.304854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.964164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.785138; captureRadius = 10; duration = 109; initialDepth = 950.964164; finalDepth = 949.935182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.34069 # Actual altitude: 53.34069 # Commanded vehicle depth:950.964164 # Seafloor depth:-1004.304854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 115.868446 meters # Minimum depth: 1002.213182 meters looking forward 100.000000 meters along route # Maximum depth: 1005.827970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.213182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.785789; captureRadius = 10; duration = 115; initialDepth = 952.213182; finalDepth = 950.964164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.34069 # Actual altitude: 53.34069 # Commanded vehicle depth:952.213182 # Seafloor depth:-1003.991844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.594956 meters # Minimum depth: 1000.188626 meters looking forward 100.000000 meters along route # Maximum depth: 1003.917283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.188626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746638; longitude = -121.786480; captureRadius = 10; duration = 102; initialDepth = 950.188626; finalDepth = 952.213182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.291126 # Actual altitude: 52.291126 # Commanded vehicle depth:950.188626 # Seafloor depth:-1002.479752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.232154 meters # Minimum depth: 995.000715 meters looking forward 100.000000 meters along route # Maximum depth: 1002.641262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.000715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.787092; captureRadius = 10; duration = 109; initialDepth = 945.000715; finalDepth = 950.188626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.640547 # Actual altitude: 57.640547 # Commanded vehicle depth:945.000715 # Seafloor depth:-1002.641262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 112.565859 meters # Minimum depth: 995.343694 meters looking forward 100.000000 meters along route # Maximum depth: 1004.022327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.343694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.787744; captureRadius = 10; duration = 112; initialDepth = 945.343694; finalDepth = 945.000715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.640547 # Actual altitude: 57.640547 # Commanded vehicle depth:945.343694 # Seafloor depth:-995.343694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.899354 meters # Minimum depth: 1001.205662 meters looking forward 100.000000 meters along route # Maximum depth: 1004.199847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.205662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744175; longitude = -121.788415; captureRadius = 10; duration = 105; initialDepth = 951.205662; finalDepth = 945.343694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.994185 # Actual altitude: 52.994185 # Commanded vehicle depth:951.205662 # Seafloor depth:-1004.199847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.233059 meters # Minimum depth: 1000.595035 meters looking forward 100.000000 meters along route # Maximum depth: 1001.905233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.595035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.789047; captureRadius = 10; duration = 109; initialDepth = 950.595035; finalDepth = 951.205662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.994185 # Actual altitude: 52.994185 # Commanded vehicle depth:950.595035 # Seafloor depth:-1001.905233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.263217 meters # Minimum depth: 997.085456 meters looking forward 100.000000 meters along route # Maximum depth: 999.355001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.085456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.789698; captureRadius = 10; duration = 109; initialDepth = 947.085456; finalDepth = 950.595035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.269545 # Actual altitude: 52.269545 # Commanded vehicle depth:947.085456 # Seafloor depth:-999.355001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.203807 meters # Minimum depth: 997.559157 meters looking forward 100.000000 meters along route # Maximum depth: 1003.225503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.559157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.790350; captureRadius = 10; duration = 109; initialDepth = 947.559157; finalDepth = 947.085456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.269545 # Actual altitude: 52.269545 # Commanded vehicle depth:947.559157 # Seafloor depth:-997.559157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.233964 meters # Minimum depth: 1000.549028 meters looking forward 100.000000 meters along route # Maximum depth: 1003.232671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.549028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.791001; captureRadius = 10; duration = 109; initialDepth = 950.549028; finalDepth = 947.559157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.601271 # Actual altitude: 51.601271 # Commanded vehicle depth:950.549028 # Seafloor depth:-1002.150299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.234267 meters # Minimum depth: 1000.350661 meters looking forward 100.000000 meters along route # Maximum depth: 1002.460593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.350661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.791653; captureRadius = 10; duration = 109; initialDepth = 950.350661; finalDepth = 950.549028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1099320000001 # Actual altitude: 52.1099320000001 # Commanded vehicle depth:950.350661 # Seafloor depth:-1002.460593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.234568 meters # Minimum depth: 998.676874 meters looking forward 100.000000 meters along route # Maximum depth: 1000.646627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.676874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.792304; captureRadius = 10; duration = 109; initialDepth = 948.676874; finalDepth = 950.350661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1099320000001 # Actual altitude: 52.1099320000001 # Commanded vehicle depth:948.676874 # Seafloor depth:-1000.646627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.234870 meters # Minimum depth: 1000.481175 meters looking forward 100.000000 meters along route # Maximum depth: 1001.231104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.481175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.792956; captureRadius = 10; duration = 109; initialDepth = 950.481175; finalDepth = 948.676874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.969753 # Actual altitude: 51.969753 # Commanded vehicle depth:950.481175 # Seafloor depth:-1000.546826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.235172 meters # Minimum depth: 999.785808 meters looking forward 100.000000 meters along route # Maximum depth: 1001.258996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.785808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.793607; captureRadius = 10; duration = 109; initialDepth = 949.785808; finalDepth = 950.481175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.065651 # Actual altitude: 50.065651 # Commanded vehicle depth:949.785808 # Seafloor depth:-999.830548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.235474 meters # Minimum depth: 1001.608798 meters looking forward 100.000000 meters along route # Maximum depth: 1002.996745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.608798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.794259; captureRadius = 10; duration = 109; initialDepth = 951.608798; finalDepth = 949.785808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.04474 # Actual altitude: 50.04474 # Commanded vehicle depth:951.608798 # Seafloor depth:-1001.608798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 115.903723 meters # Minimum depth: 1002.945810 meters looking forward 100.000000 meters along route # Maximum depth: 1005.126045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.945810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.794911; captureRadius = 10; duration = 115; initialDepth = 952.945810; finalDepth = 951.608798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.94581 # Seafloor depth:-1002.945810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.568130 meters # Minimum depth: 1004.254075 meters looking forward 100.000000 meters along route # Maximum depth: 1005.315510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.254075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735028; longitude = -121.795602; captureRadius = 10; duration = 102; initialDepth = 954.254075; finalDepth = 952.945810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3791060000001 # Actual altitude: 50.3791060000001 # Commanded vehicle depth:954.254075 # Seafloor depth:-1004.633181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.236380 meters # Minimum depth: 1001.658937 meters looking forward 100.000000 meters along route # Maximum depth: 1005.880837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.658937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.796214; captureRadius = 10; duration = 109; initialDepth = 951.658937; finalDepth = 954.254075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2219 # Actual altitude: 54.2219 # Commanded vehicle depth:951.658937 # Seafloor depth:-1005.880837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 112.601008 meters # Minimum depth: 1001.318920 meters looking forward 100.000000 meters along route # Maximum depth: 1004.951009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.318920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.796865; captureRadius = 10; duration = 112; initialDepth = 951.318920; finalDepth = 951.658937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2219 # Actual altitude: 54.2219 # Commanded vehicle depth:951.31892 # Seafloor depth:-1001.318920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.872656 meters # Minimum depth: 1004.863600 meters looking forward 100.000000 meters along route # Maximum depth: 1007.205434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.863600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732566; longitude = -121.797537; captureRadius = 10; duration = 105; initialDepth = 954.863600; finalDepth = 951.318920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1220969999999 # Actual altitude: 50.1220969999999 # Commanded vehicle depth:954.8636 # Seafloor depth:-1004.985697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.237285 meters # Minimum depth: 1006.949586 meters looking forward 100.000000 meters along route # Maximum depth: 1007.163311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.949586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.798168; captureRadius = 10; duration = 109; initialDepth = 956.949586; finalDepth = 954.863600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.14625 # Actual altitude: 50.14625 # Commanded vehicle depth:956.949586 # Seafloor depth:-1007.095836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.298240 meters # Minimum depth: 1006.077198 meters looking forward 100.000000 meters along route # Maximum depth: 1008.447785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.077198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.798820; captureRadius = 10; duration = 109; initialDepth = 956.077198; finalDepth = 956.949586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.479494 # Actual altitude: 51.479494 # Commanded vehicle depth:956.077198 # Seafloor depth:-1007.556692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.177236 meters # Minimum depth: 1007.338290 meters looking forward 100.000000 meters along route # Maximum depth: 1008.321084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.338290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730103; longitude = -121.799471; captureRadius = 10; duration = 109; initialDepth = 957.338290; finalDepth = 956.077198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.479494 # Actual altitude: 51.479494 # Commanded vehicle depth:957.33829 # Seafloor depth:-1007.770357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 122.544524 meters # Minimum depth: 1008.099012 meters looking forward 100.000000 meters along route # Maximum depth: 1010.261512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.099012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.800123; captureRadius = 10; duration = 122; initialDepth = 958.099012; finalDepth = 957.338290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4879559999999 # Actual altitude: 51.4879559999999 # Commanded vehicle depth:958.099012 # Seafloor depth:-1009.586968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 108.069734 meters # Minimum depth: 1008.945837 meters looking forward 100.000000 meters along route # Maximum depth: 1010.273320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.945837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728344; longitude = -121.800853; captureRadius = 10; duration = 108; initialDepth = 958.945837; finalDepth = 958.099012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4879559999999 # Actual altitude: 51.4879559999999 # Commanded vehicle depth:958.945837 # Seafloor depth:-1010.273320 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 41.337314 meters # Minimum depth: 1008.536453 meters looking forward 100.000000 meters along route # Maximum depth: 1010.796164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.536453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727524; longitude = -121.801498; captureRadius = 10; duration = 41; initialDepth = 958.536453; finalDepth = 958.945837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.327483 # Actual altitude: 51.327483 # Commanded vehicle depth:958.536453 # Seafloor depth:-1008.536453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 113.845505 meters # Minimum depth: 1005.665778 meters looking forward 100.000000 meters along route # Maximum depth: 1010.638323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.665778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727303; longitude = -121.801130; captureRadius = 10; duration = 113; initialDepth = 955.665778; finalDepth = 958.536453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.972545 # Actual altitude: 54.972545 # Commanded vehicle depth:955.665778 # Seafloor depth:-1010.638323 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 84.935214 meters # Minimum depth: 1005.843979 meters looking forward 100.000000 meters along route # Maximum depth: 1006.862203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.843979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726695; longitude = -121.800116; captureRadius = 10; duration = 84; initialDepth = 955.843979; finalDepth = 955.665778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.972545 # Actual altitude: 54.972545 # Commanded vehicle depth:955.843979 # Seafloor depth:-1005.843979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 115.829961 meters # Minimum depth: 1005.557719 meters looking forward 100.000000 meters along route # Maximum depth: 1007.296779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.557719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.799609; captureRadius = 10; duration = 115; initialDepth = 955.557719; finalDepth = 955.843979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.73906 # Actual altitude: 51.73906 # Commanded vehicle depth:955.557719 # Seafloor depth:-1007.296779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.645822 meters # Minimum depth: 1006.031818 meters looking forward 100.000000 meters along route # Maximum depth: 1006.894960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.031818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728219; longitude = -121.798919; captureRadius = 10; duration = 102; initialDepth = 956.031818; finalDepth = 955.557719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.73906 # Actual altitude: 51.73906 # Commanded vehicle depth:956.031818 # Seafloor depth:-1006.031818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.237439 meters # Minimum depth: 1005.549696 meters looking forward 100.000000 meters along route # Maximum depth: 1006.802704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.549696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.798306; captureRadius = 10; duration = 109; initialDepth = 955.549696; finalDepth = 956.031818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2530079999999 # Actual altitude: 51.2530079999999 # Commanded vehicle depth:955.549696 # Seafloor depth:-1006.802704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 112.531492 meters # Minimum depth: 1005.367599 meters looking forward 100.000000 meters along route # Maximum depth: 1006.951076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.367599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.797655; captureRadius = 10; duration = 112; initialDepth = 955.367599; finalDepth = 955.549696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5834769999999 # Actual altitude: 51.5834769999999 # Commanded vehicle depth:955.367599 # Seafloor depth:-1006.951076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 105.942480 meters # Minimum depth: 1004.698799 meters looking forward 100.000000 meters along route # Maximum depth: 1006.850893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.698799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730682; longitude = -121.796984; captureRadius = 10; duration = 105; initialDepth = 954.698799; finalDepth = 955.367599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5834769999999 # Actual altitude: 51.5834769999999 # Commanded vehicle depth:954.698799 # Seafloor depth:-1005.259859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.236533 meters # Minimum depth: 1002.166839 meters looking forward 100.000000 meters along route # Maximum depth: 1003.834932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.166839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.796352; captureRadius = 10; duration = 109; initialDepth = 952.166839; finalDepth = 954.698799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.668093 # Actual altitude: 51.668093 # Commanded vehicle depth:952.166839 # Seafloor depth:-1003.834932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.236231 meters # Minimum depth: 1000.268161 meters looking forward 100.000000 meters along route # Maximum depth: 1003.883380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.268161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.795700; captureRadius = 10; duration = 109; initialDepth = 950.268161; finalDepth = 952.166839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.123651 # Actual altitude: 53.123651 # Commanded vehicle depth:950.268161 # Seafloor depth:-1003.391812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.235930 meters # Minimum depth: 999.200143 meters looking forward 100.000000 meters along route # Maximum depth: 1003.883628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.200143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.795049; captureRadius = 10; duration = 109; initialDepth = 949.200143; finalDepth = 950.268161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.683485 # Actual altitude: 54.683485 # Commanded vehicle depth:949.200143 # Seafloor depth:-1003.883628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.235627 meters # Minimum depth: 998.112986 meters looking forward 100.000000 meters along route # Maximum depth: 1001.424799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.112986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.794397; captureRadius = 10; duration = 109; initialDepth = 948.112986; finalDepth = 949.200143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.683485 # Actual altitude: 54.683485 # Commanded vehicle depth:948.112986 # Seafloor depth:-1000.993120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.235326 meters # Minimum depth: 998.978113 meters looking forward 100.000000 meters along route # Maximum depth: 1001.475656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.978113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.793746; captureRadius = 10; duration = 109; initialDepth = 948.978113; finalDepth = 948.112986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.880134 # Actual altitude: 52.880134 # Commanded vehicle depth:948.978113 # Seafloor depth:-1001.287028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.235024 meters # Minimum depth: 1000.190331 meters looking forward 100.000000 meters along route # Maximum depth: 1001.369595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.190331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.793094; captureRadius = 10; duration = 109; initialDepth = 950.190331; finalDepth = 948.978113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.308915 # Actual altitude: 52.308915 # Commanded vehicle depth:950.190331 # Seafloor depth:-1000.190331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.234722 meters # Minimum depth: 999.674451 meters looking forward 100.000000 meters along route # Maximum depth: 1001.862557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.674451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.792443; captureRadius = 10; duration = 109; initialDepth = 949.674451; finalDepth = 950.190331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.814609 # Actual altitude: 51.814609 # Commanded vehicle depth:949.674451 # Seafloor depth:-1001.489060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.234421 meters # Minimum depth: 995.862180 meters looking forward 100.000000 meters along route # Maximum depth: 997.541918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.862180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.791791; captureRadius = 10; duration = 109; initialDepth = 945.862180; finalDepth = 949.674451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.814609 # Actual altitude: 51.814609 # Commanded vehicle depth:945.86218 # Seafloor depth:-996.558479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.234118 meters # Minimum depth: 996.859919 meters looking forward 100.000000 meters along route # Maximum depth: 1000.246462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.859919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.791140; captureRadius = 10; duration = 109; initialDepth = 946.859919; finalDepth = 945.862180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6962990000001 # Actual altitude: 50.6962990000001 # Commanded vehicle depth:946.859919 # Seafloor depth:-997.329250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 115.885361 meters # Minimum depth: 1001.213962 meters looking forward 100.000000 meters along route # Maximum depth: 1003.606383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.213962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.790488; captureRadius = 10; duration = 115; initialDepth = 951.213962; finalDepth = 946.859919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.724108 # Actual altitude: 50.724108 # Commanded vehicle depth:951.213962 # Seafloor depth:-1001.938070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.581971 meters # Minimum depth: 996.025754 meters looking forward 100.000000 meters along route # Maximum depth: 1001.188467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.025754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739828; longitude = -121.789797; captureRadius = 10; duration = 102; initialDepth = 946.025754; finalDepth = 951.213962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1627129999999 # Actual altitude: 55.1627129999999 # Commanded vehicle depth:946.025754 # Seafloor depth:-1001.188467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.233213 meters # Minimum depth: 995.911716 meters looking forward 100.000000 meters along route # Maximum depth: 996.237753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.911716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.789185; captureRadius = 10; duration = 109; initialDepth = 945.911716; finalDepth = 946.025754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1627129999999 # Actual altitude: 55.1627129999999 # Commanded vehicle depth:945.911716 # Seafloor depth:-996.237753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 112.587019 meters # Minimum depth: 996.055292 meters looking forward 100.000000 meters along route # Maximum depth: 1001.408338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.055292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.788534; captureRadius = 10; duration = 112; initialDepth = 946.055292; finalDepth = 945.911716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9377449999999 # Actual altitude: 50.9377449999999 # Commanded vehicle depth:946.055292 # Seafloor depth:-996.993037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 105.878502 meters # Minimum depth: 999.825850 meters looking forward 100.000000 meters along route # Maximum depth: 1001.851958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.825850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742291; longitude = -121.787862; captureRadius = 10; duration = 105; initialDepth = 949.825850; finalDepth = 946.055292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.026108 # Actual altitude: 52.026108 # Commanded vehicle depth:949.82585 # Seafloor depth:-1001.851958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.232308 meters # Minimum depth: 996.116288 meters looking forward 100.000000 meters along route # Maximum depth: 1000.425970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.116288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.787231; captureRadius = 10; duration = 109; initialDepth = 946.116288; finalDepth = 949.825850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.309682 # Actual altitude: 54.309682 # Commanded vehicle depth:946.116288 # Seafloor depth:-1000.425970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.288731 meters # Minimum depth: 994.855030 meters looking forward 100.000000 meters along route # Maximum depth: 997.716284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.855030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.786579; captureRadius = 10; duration = 109; initialDepth = 944.855030; finalDepth = 946.116288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.309682 # Actual altitude: 54.309682 # Commanded vehicle depth:944.85503 # Seafloor depth:-995.252985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.174979 meters # Minimum depth: 997.718623 meters looking forward 100.000000 meters along route # Maximum depth: 1000.095861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.718623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744754; longitude = -121.785928; captureRadius = 10; duration = 109; initialDepth = 947.718623; finalDepth = 944.855030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3979549999999 # Actual altitude: 50.3979549999999 # Commanded vehicle depth:947.718623 # Seafloor depth:-997.718623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.231403 meters # Minimum depth: 1001.250515 meters looking forward 100.000000 meters along route # Maximum depth: 1004.107316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.250515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.785276; captureRadius = 10; duration = 109; initialDepth = 951.250515; finalDepth = 947.718623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.250515 # Seafloor depth:-1001.250515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.231100 meters # Minimum depth: 998.415589 meters looking forward 100.000000 meters along route # Maximum depth: 1005.820613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.415589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.784625; captureRadius = 10; duration = 109; initialDepth = 948.415589; finalDepth = 951.250515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.405024 # Actual altitude: 57.405024 # Commanded vehicle depth:948.415589 # Seafloor depth:-1005.820613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 229.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.230799 meters # Minimum depth: 996.467540 meters looking forward 100.000000 meters along route # Maximum depth: 1000.676230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.467540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.783973; captureRadius = 10; duration = 109; initialDepth = 946.467540; finalDepth = 948.415589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.405024 # Actual altitude: 57.405024 # Commanded vehicle depth:946.46754 # Seafloor depth:-1000.676230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 229.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 119.239026 meters # Minimum depth: 998.134011 meters looking forward 100.000000 meters along route # Maximum depth: 1001.131105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.134011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.783322; captureRadius = 10; duration = 119; initialDepth = 948.134011; finalDepth = 946.467540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.20869 # Actual altitude: 54.20869 # Commanded vehicle depth:948.134011 # Seafloor depth:-998.134011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 123.533194 meters # Minimum depth: 998.440316 meters looking forward 100.000000 meters along route # Maximum depth: 1003.743906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.440316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748975; longitude = -121.782611; captureRadius = 10; duration = 123; initialDepth = 948.440316; finalDepth = 948.134011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.769637 # Actual altitude: 52.769637 # Commanded vehicle depth:948.440316 # Seafloor depth:-1001.209953 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 56.918937 meters # Minimum depth: 998.440316 meters looking forward 100.000000 meters along route # Maximum depth: 998.899658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.440316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749913; longitude = -121.781874; captureRadius = 10; duration = 56; initialDepth = 948.440316; finalDepth = 948.440316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.769637 # Actual altitude: 52.769637 # Commanded vehicle depth:948.440316 # Seafloor depth:-998.899658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 113.728299 meters # Minimum depth: 998.195004 meters looking forward 100.000000 meters along route # Maximum depth: 1000.102182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.195004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.781597; captureRadius = 10; duration = 113; initialDepth = 948.195004; finalDepth = 948.440316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9071779999999 # Actual altitude: 51.9071779999999 # Commanded vehicle depth:948.195004 # Seafloor depth:-1000.102182 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 30.945836 meters # Minimum depth: 995.318478 meters looking forward 100.000000 meters along route # Maximum depth: 999.489649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.318478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748531; longitude = -121.781045; captureRadius = 10; duration = 30; initialDepth = 945.318478; finalDepth = 948.195004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9071779999999 # Actual altitude: 51.9071779999999 # Commanded vehicle depth:945.318478 # Seafloor depth:-996.467178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.366981 meters # Minimum depth: 995.648808 meters looking forward 100.000000 meters along route # Maximum depth: 996.544860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.648808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748296; longitude = -121.781229; captureRadius = 10; duration = 102; initialDepth = 945.648808; finalDepth = 945.318478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1487 # Actual altitude: 51.1487 # Commanded vehicle depth:945.648808 # Seafloor depth:-995.648808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.041199 meters # Minimum depth: 993.233001 meters looking forward 100.000000 meters along route # Maximum depth: 995.786794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.233001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.781837; captureRadius = 10; duration = 109; initialDepth = 943.233001; finalDepth = 945.648808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.553793 # Actual altitude: 52.553793 # Commanded vehicle depth:943.233001 # Seafloor depth:-995.786794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 114.374534 meters # Minimum depth: 993.880659 meters looking forward 100.000000 meters along route # Maximum depth: 995.093265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.880659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.782484; captureRadius = 10; duration = 114; initialDepth = 943.880659; finalDepth = 943.233001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.553793 # Actual altitude: 52.553793 # Commanded vehicle depth:943.880659 # Seafloor depth:-993.880659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 103.708760 meters # Minimum depth: 995.737564 meters looking forward 100.000000 meters along route # Maximum depth: 1003.549794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.737564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745818; longitude = -121.783164; captureRadius = 10; duration = 103; initialDepth = 945.737564; finalDepth = 943.880659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.737564 # Seafloor depth:-995.737564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.042094 meters # Minimum depth: 997.179569 meters looking forward 100.000000 meters along route # Maximum depth: 1003.058710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.179569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.783780; captureRadius = 10; duration = 109; initialDepth = 947.179569; finalDepth = 945.737564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.879141 # Actual altitude: 55.879141 # Commanded vehicle depth:947.179569 # Seafloor depth:-1003.058710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 113.034524 meters # Minimum depth: 994.162294 meters looking forward 100.000000 meters along route # Maximum depth: 998.803109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.162294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.784427; captureRadius = 10; duration = 113; initialDepth = 944.162294; finalDepth = 947.179569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.879141 # Actual altitude: 55.879141 # Commanded vehicle depth:944.162294 # Seafloor depth:-998.494136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 105.050561 meters # Minimum depth: 992.200928 meters looking forward 100.000000 meters along route # Maximum depth: 993.830759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.200928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743341; longitude = -121.785098; captureRadius = 10; duration = 105; initialDepth = 942.200928; finalDepth = 944.162294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3318420000001 # Actual altitude: 54.3318420000001 # Commanded vehicle depth:942.200928 # Seafloor depth:-993.750476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.042990 meters # Minimum depth: 993.604656 meters looking forward 100.000000 meters along route # Maximum depth: 999.224586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.604656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.785722; captureRadius = 10; duration = 109; initialDepth = 943.604656; finalDepth = 942.200928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5495480000001 # Actual altitude: 51.5495480000001 # Commanded vehicle depth:943.604656 # Seafloor depth:-993.604656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 111.694492 meters # Minimum depth: 995.062993 meters looking forward 100.000000 meters along route # Maximum depth: 998.566055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.062993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.786370; captureRadius = 10; duration = 111; initialDepth = 945.062993; finalDepth = 943.604656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.503062 # Actual altitude: 53.503062 # Commanded vehicle depth:945.062993 # Seafloor depth:-998.566055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 214.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.392384 meters # Minimum depth: 993.711186 meters looking forward 100.000000 meters along route # Maximum depth: 995.501891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.711186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740863; longitude = -121.787033; captureRadius = 10; duration = 106; initialDepth = 943.711186; finalDepth = 945.062993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.503062 # Actual altitude: 53.503062 # Commanded vehicle depth:943.711186 # Seafloor depth:-995.501891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 214.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.043885 meters # Minimum depth: 993.695125 meters looking forward 100.000000 meters along route # Maximum depth: 995.079642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.695125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.787665; captureRadius = 10; duration = 109; initialDepth = 943.695125; finalDepth = 943.711186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.790705 # Actual altitude: 51.790705 # Commanded vehicle depth:943.695125 # Seafloor depth:-994.785825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.354438 meters # Minimum depth: 993.883079 meters looking forward 100.000000 meters along route # Maximum depth: 1001.914351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.883079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.788313; captureRadius = 10; duration = 110; initialDepth = 943.883079; finalDepth = 943.695125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0907000000001 # Actual altitude: 51.0907000000001 # Commanded vehicle depth:943.883079 # Seafloor depth:-993.883079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 107.734229 meters # Minimum depth: 997.883655 meters looking forward 100.000000 meters along route # Maximum depth: 1004.617188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.883655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738386; longitude = -121.788968; captureRadius = 10; duration = 107; initialDepth = 947.883655; finalDepth = 943.883079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0442380000001 # Actual altitude: 54.0442380000001 # Commanded vehicle depth:947.883655 # Seafloor depth:-1001.927893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.044782 meters # Minimum depth: 994.514571 meters looking forward 100.000000 meters along route # Maximum depth: 997.838281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.514571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.789608; captureRadius = 10; duration = 109; initialDepth = 944.514571; finalDepth = 947.883655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0442380000001 # Actual altitude: 54.0442380000001 # Commanded vehicle depth:944.514571 # Seafloor depth:-997.838281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.045079 meters # Minimum depth: 997.285532 meters looking forward 100.000000 meters along route # Maximum depth: 999.722328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.285532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.790256; captureRadius = 10; duration = 109; initialDepth = 947.285532; finalDepth = 944.514571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.32371 # Actual altitude: 53.32371 # Commanded vehicle depth:947.285532 # Seafloor depth:-997.729047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.045379 meters # Minimum depth: 997.286921 meters looking forward 100.000000 meters along route # Maximum depth: 999.289641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.286921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.790903; captureRadius = 10; duration = 109; initialDepth = 947.286921; finalDepth = 947.285532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.443515 # Actual altitude: 50.443515 # Commanded vehicle depth:947.286921 # Seafloor depth:-997.286921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.045676 meters # Minimum depth: 993.307522 meters looking forward 100.000000 meters along route # Maximum depth: 999.324399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.307522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.791551; captureRadius = 10; duration = 109; initialDepth = 943.307522; finalDepth = 947.286921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.532376 # Actual altitude: 55.532376 # Commanded vehicle depth:943.307522 # Seafloor depth:-998.839898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.045976 meters # Minimum depth: 996.748035 meters looking forward 100.000000 meters along route # Maximum depth: 999.008428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.748035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.792198; captureRadius = 10; duration = 109; initialDepth = 946.748035; finalDepth = 943.307522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.532376 # Actual altitude: 55.532376 # Commanded vehicle depth:946.748035 # Seafloor depth:-996.748035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.046274 meters # Minimum depth: 998.859079 meters looking forward 100.000000 meters along route # Maximum depth: 999.712981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.859079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.792846; captureRadius = 10; duration = 109; initialDepth = 948.859079; finalDepth = 946.748035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.178522 # Actual altitude: 50.178522 # Commanded vehicle depth:948.859079 # Seafloor depth:-999.037601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 103.811521 meters # Minimum depth: 999.301578 meters looking forward 100.000000 meters along route # Maximum depth: 1000.213899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.301578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.793493; captureRadius = 10; duration = 103; initialDepth = 949.301578; finalDepth = 948.859079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3288150000001 # Actual altitude: 50.3288150000001 # Commanded vehicle depth:949.301578 # Seafloor depth:-999.630393 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 47.441040 meters # Minimum depth: 1000.150951 meters looking forward 100.000000 meters along route # Maximum depth: 1000.898376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.150951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731802; longitude = -121.794110; captureRadius = 10; duration = 47; initialDepth = 950.150951; finalDepth = 949.301578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.747425 # Actual altitude: 50.747425 # Commanded vehicle depth:950.150951 # Seafloor depth:-1000.898376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.579707 meters # Minimum depth: 997.715585 meters looking forward 100.000000 meters along route # Maximum depth: 999.563485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.715585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731573; longitude = -121.793667; captureRadius = 10; duration = 102; initialDepth = 947.715585; finalDepth = 950.150951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8479 # Actual altitude: 51.8479 # Commanded vehicle depth:947.715585 # Seafloor depth:-999.563485 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 24.944022 meters # Minimum depth: 997.715585 meters looking forward 100.000000 meters along route # Maximum depth: 999.166438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.715585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731078; longitude = -121.792709; captureRadius = 10; duration = 24; initialDepth = 947.715585; finalDepth = 947.715585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8479 # Actual altitude: 51.8479 # Commanded vehicle depth:947.715585 # Seafloor depth:-997.780273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.215121 meters # Minimum depth: 995.680734 meters looking forward 100.000000 meters along route # Maximum depth: 999.215946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.680734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731268; longitude = -121.792561; captureRadius = 10; duration = 101; initialDepth = 945.680734; finalDepth = 947.715585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.535212 # Actual altitude: 53.535212 # Commanded vehicle depth:945.680734 # Seafloor depth:-999.215946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.903593 meters # Minimum depth: 995.205597 meters looking forward 100.000000 meters along route # Maximum depth: 996.566134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.205597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.791962; captureRadius = 10; duration = 108; initialDepth = 945.205597; finalDepth = 945.680734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.535212 # Actual altitude: 53.535212 # Commanded vehicle depth:945.205597 # Seafloor depth:-995.938028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 116.740181 meters # Minimum depth: 995.711899 meters looking forward 100.000000 meters along route # Maximum depth: 998.666470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.711899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.791318; captureRadius = 10; duration = 116; initialDepth = 945.711899; finalDepth = 945.205597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.732431 # Actual altitude: 50.732431 # Commanded vehicle depth:945.711899 # Seafloor depth:-995.711899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.066116 meters # Minimum depth: 998.525121 meters looking forward 100.000000 meters along route # Maximum depth: 1001.734293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.525121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733757; longitude = -121.790627; captureRadius = 10; duration = 101; initialDepth = 948.525121; finalDepth = 945.711899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.525121 # Seafloor depth:-998.525121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.902705 meters # Minimum depth: 1000.401829 meters looking forward 100.000000 meters along route # Maximum depth: 1001.854796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.401829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.790028; captureRadius = 10; duration = 108; initialDepth = 950.401829; finalDepth = 948.525121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4529669999999 # Actual altitude: 51.4529669999999 # Commanded vehicle depth:950.401829 # Seafloor depth:-1001.854796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 116.887408 meters # Minimum depth: 991.046222 meters looking forward 100.000000 meters along route # Maximum depth: 998.919809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.046222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.789384; captureRadius = 10; duration = 116; initialDepth = 941.046222; finalDepth = 950.401829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.873587 # Actual altitude: 57.873587 # Commanded vehicle depth:941.046222 # Seafloor depth:-998.919809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 231.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.917114 meters # Minimum depth: 990.934282 meters looking forward 100.000000 meters along route # Maximum depth: 996.454025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.934282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736245; longitude = -121.788692; captureRadius = 10; duration = 100; initialDepth = 940.934282; finalDepth = 941.046222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.873587 # Actual altitude: 57.873587 # Commanded vehicle depth:940.934282 # Seafloor depth:-990.934282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 231.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.901816 meters # Minimum depth: 996.560996 meters looking forward 100.000000 meters along route # Maximum depth: 1001.275997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.560996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.788094; captureRadius = 10; duration = 108; initialDepth = 946.560996; finalDepth = 940.934282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.560996 # Seafloor depth:-996.560996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.034631 meters # Minimum depth: 991.526332 meters looking forward 100.000000 meters along route # Maximum depth: 998.200125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.526332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.787450; captureRadius = 10; duration = 117; initialDepth = 941.526332; finalDepth = 946.560996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6737929999999 # Actual altitude: 56.6737929999999 # Commanded vehicle depth:941.526332 # Seafloor depth:-998.200125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.768114 meters # Minimum depth: 990.299236 meters looking forward 100.000000 meters along route # Maximum depth: 991.782182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.299236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738734; longitude = -121.786757; captureRadius = 10; duration = 100; initialDepth = 940.299236; finalDepth = 941.526332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6737929999999 # Actual altitude: 56.6737929999999 # Commanded vehicle depth:940.299236 # Seafloor depth:-991.782182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.900929 meters # Minimum depth: 989.024860 meters looking forward 100.000000 meters along route # Maximum depth: 990.908691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.024860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.786160; captureRadius = 10; duration = 108; initialDepth = 939.024860; finalDepth = 940.299236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.883831 # Actual altitude: 51.883831 # Commanded vehicle depth:939.02486 # Seafloor depth:-990.908691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.181852 meters # Minimum depth: 990.556658 meters looking forward 100.000000 meters along route # Maximum depth: 996.919829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.556658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.785516; captureRadius = 10; duration = 117; initialDepth = 940.556658; finalDepth = 939.024860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.883831 # Actual altitude: 51.883831 # Commanded vehicle depth:940.556658 # Seafloor depth:-990.556658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.619116 meters # Minimum depth: 996.617750 meters looking forward 100.000000 meters along route # Maximum depth: 998.391771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.617750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741223; longitude = -121.784822; captureRadius = 10; duration = 100; initialDepth = 946.617750; finalDepth = 940.556658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.810791 # Actual altitude: 50.810791 # Commanded vehicle depth:946.61775 # Seafloor depth:-997.428541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.900041 meters # Minimum depth: 996.527707 meters looking forward 100.000000 meters along route # Maximum depth: 998.831598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.527707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.784226; captureRadius = 10; duration = 108; initialDepth = 946.527707; finalDepth = 946.617750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.810791 # Actual altitude: 50.810791 # Commanded vehicle depth:946.527707 # Seafloor depth:-996.527707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.329071 meters # Minimum depth: 997.359563 meters looking forward 100.000000 meters along route # Maximum depth: 999.582129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.359563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.783582; captureRadius = 10; duration = 117; initialDepth = 947.359563; finalDepth = 946.527707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3359320000001 # Actual altitude: 51.3359320000001 # Commanded vehicle depth:947.359563 # Seafloor depth:-998.695495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.470121 meters # Minimum depth: 993.056475 meters looking forward 100.000000 meters along route # Maximum depth: 997.455347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.056475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743712; longitude = -121.782887; captureRadius = 10; duration = 100; initialDepth = 943.056475; finalDepth = 947.359563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.87291 # Actual altitude: 53.87291 # Commanded vehicle depth:943.056475 # Seafloor depth:-996.929385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 108.899153 meters # Minimum depth: 993.086820 meters looking forward 100.000000 meters along route # Maximum depth: 993.749535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.086820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.782292; captureRadius = 10; duration = 108; initialDepth = 943.086820; finalDepth = 943.056475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.87291 # Actual altitude: 53.87291 # Commanded vehicle depth:943.08682 # Seafloor depth:-993.086820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.476288 meters # Minimum depth: 991.368976 meters looking forward 100.000000 meters along route # Maximum depth: 994.327001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.368976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.781648; captureRadius = 10; duration = 117; initialDepth = 941.368976; finalDepth = 943.086820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.741087 # Actual altitude: 51.741087 # Commanded vehicle depth:941.368976 # Seafloor depth:-993.110063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 124.563877 meters # Minimum depth: 994.271431 meters looking forward 100.000000 meters along route # Maximum depth: 997.363764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.271431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746201; longitude = -121.780952; captureRadius = 10; duration = 124; initialDepth = 944.271431; finalDepth = 941.368976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.741087 # Actual altitude: 51.741087 # Commanded vehicle depth:944.271431 # Seafloor depth:-994.271431 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 56.924053 meters # Minimum depth: 991.900416 meters looking forward 100.000000 meters along route # Maximum depth: 995.358868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.900416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747149; longitude = -121.780215; captureRadius = 10; duration = 56; initialDepth = 941.900416; finalDepth = 944.271431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.457799 # Actual altitude: 52.457799 # Commanded vehicle depth:941.900416 # Seafloor depth:-994.358215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 113.724330 meters # Minimum depth: 992.538628 meters looking forward 100.000000 meters along route # Maximum depth: 994.245199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.538628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.779938; captureRadius = 10; duration = 113; initialDepth = 942.538628; finalDepth = 941.900416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.457799 # Actual altitude: 52.457799 # Commanded vehicle depth:942.538628 # Seafloor depth:-994.245199 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 60.459121 meters # Minimum depth: 992.130371 meters looking forward 100.000000 meters along route # Maximum depth: 992.717600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.130371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745767; longitude = -121.779386; captureRadius = 10; duration = 60; initialDepth = 942.130371; finalDepth = 942.538628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7065709999999 # Actual altitude: 51.7065709999999 # Commanded vehicle depth:942.130371 # Seafloor depth:-992.130371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 111.371506 meters # Minimum depth: 992.759498 meters looking forward 100.000000 meters along route # Maximum depth: 993.448461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.759498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.779743; captureRadius = 10; duration = 111; initialDepth = 942.759498; finalDepth = 942.130371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:942.759498 # Seafloor depth:-992.759498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.118057 meters # Minimum depth: 990.326032 meters looking forward 100.000000 meters along route # Maximum depth: 993.416417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.326032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744457; longitude = -121.780400; captureRadius = 10; duration = 106; initialDepth = 940.326032; finalDepth = 942.759498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.090385 # Actual altitude: 53.090385 # Commanded vehicle depth:940.326032 # Seafloor depth:-993.416417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.745222 meters # Minimum depth: 987.542747 meters looking forward 100.000000 meters along route # Maximum depth: 990.192895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.542747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.781026; captureRadius = 10; duration = 108; initialDepth = 937.542747; finalDepth = 940.326032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.090385 # Actual altitude: 53.090385 # Commanded vehicle depth:937.542747 # Seafloor depth:-990.192895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 113.147897 meters # Minimum depth: 987.821603 meters looking forward 100.000000 meters along route # Maximum depth: 991.505624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.821603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.781667; captureRadius = 10; duration = 113; initialDepth = 937.821603; finalDepth = 937.542747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6501480000001 # Actual altitude: 52.6501480000001 # Commanded vehicle depth:937.821603 # Seafloor depth:-987.900888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.343427 meters # Minimum depth: 991.598291 meters looking forward 100.000000 meters along route # Maximum depth: 993.196794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.598291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741956; longitude = -121.782334; captureRadius = 10; duration = 104; initialDepth = 941.598291; finalDepth = 937.821603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.079285 # Actual altitude: 50.079285 # Commanded vehicle depth:941.598291 # Seafloor depth:-991.598291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.746102 meters # Minimum depth: 993.354194 meters looking forward 100.000000 meters along route # Maximum depth: 996.153662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.354194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.782950; captureRadius = 10; duration = 108; initialDepth = 943.354194; finalDepth = 941.598291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1224089999999 # Actual altitude: 50.1224089999999 # Commanded vehicle depth:943.354194 # Seafloor depth:-993.476603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 114.924315 meters # Minimum depth: 988.467016 meters looking forward 100.000000 meters along route # Maximum depth: 997.005535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.467016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.783591; captureRadius = 10; duration = 114; initialDepth = 938.467016; finalDepth = 943.354194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5385190000001 # Actual altitude: 58.5385190000001 # Commanded vehicle depth:938.467016 # Seafloor depth:-997.005535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 102.568768 meters # Minimum depth: 987.317220 meters looking forward 100.000000 meters along route # Maximum depth: 988.571004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.317220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739454; longitude = -121.784269; captureRadius = 10; duration = 102; initialDepth = 937.317220; finalDepth = 938.467016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5385190000001 # Actual altitude: 58.5385190000001 # Commanded vehicle depth:937.31722 # Seafloor depth:-988.230224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.746982 meters # Minimum depth: 987.295960 meters looking forward 100.000000 meters along route # Maximum depth: 990.723223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.295960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.784874; captureRadius = 10; duration = 108; initialDepth = 937.295960; finalDepth = 937.317220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.913004 # Actual altitude: 50.913004 # Commanded vehicle depth:937.29596 # Seafloor depth:-987.295960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 116.700764 meters # Minimum depth: 990.721608 meters looking forward 100.000000 meters along route # Maximum depth: 1002.767208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.721608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.785516; captureRadius = 10; duration = 116; initialDepth = 940.721608; finalDepth = 937.295960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.721608 # Seafloor depth:-990.721608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.794080 meters # Minimum depth: 989.522846 meters looking forward 100.000000 meters along route # Maximum depth: 1002.046689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.522846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736953; longitude = -121.786204; captureRadius = 10; duration = 100; initialDepth = 939.522846; finalDepth = 940.721608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5238430000001 # Actual altitude: 62.5238430000001 # Commanded vehicle depth:939.522846 # Seafloor depth:-1002.046689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 250.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.747862 meters # Minimum depth: 988.502201 meters looking forward 100.000000 meters along route # Maximum depth: 989.977154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.502201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.786799; captureRadius = 10; duration = 108; initialDepth = 938.502201; finalDepth = 939.522846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5238430000001 # Actual altitude: 62.5238430000001 # Commanded vehicle depth:938.502201 # Seafloor depth:-988.605252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 250.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.748156 meters # Minimum depth: 988.750595 meters looking forward 100.000000 meters along route # Maximum depth: 992.828610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.750595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.787440; captureRadius = 10; duration = 108; initialDepth = 938.750595; finalDepth = 938.502201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.203024 # Actual altitude: 50.203024 # Commanded vehicle depth:938.750595 # Seafloor depth:-988.953619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.748448 meters # Minimum depth: 991.891348 meters looking forward 100.000000 meters along route # Maximum depth: 995.872908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.891348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.788081; captureRadius = 10; duration = 108; initialDepth = 941.891348; finalDepth = 938.750595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.203024 # Actual altitude: 50.203024 # Commanded vehicle depth:941.891348 # Seafloor depth:-991.891348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.748743 meters # Minimum depth: 995.779703 meters looking forward 100.000000 meters along route # Maximum depth: 997.762544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.779703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.788723; captureRadius = 10; duration = 108; initialDepth = 945.779703; finalDepth = 941.891348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.779703 # Seafloor depth:-995.779703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.749035 meters # Minimum depth: 996.821136 meters looking forward 100.000000 meters along route # Maximum depth: 997.664373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.821136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.789364; captureRadius = 10; duration = 108; initialDepth = 946.821136; finalDepth = 945.779703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.821136 # Seafloor depth:-996.821136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.749329 meters # Minimum depth: 994.655393 meters looking forward 100.000000 meters along route # Maximum depth: 996.718294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.655393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.790006; captureRadius = 10; duration = 108; initialDepth = 944.655393; finalDepth = 946.821136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.790425 # Actual altitude: 50.790425 # Commanded vehicle depth:944.655393 # Seafloor depth:-995.445818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 112.182109 meters # Minimum depth: 993.623028 meters looking forward 100.000000 meters along route # Maximum depth: 997.671717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.623028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.790647; captureRadius = 10; duration = 112; initialDepth = 943.623028; finalDepth = 944.655393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.209015 # Actual altitude: 53.209015 # Commanded vehicle depth:943.623028 # Seafloor depth:-996.832043 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 43.483734 meters # Minimum depth: 993.623028 meters looking forward 100.000000 meters along route # Maximum depth: 995.686409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.623028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730354; longitude = -121.791309; captureRadius = 10; duration = 43; initialDepth = 943.623028; finalDepth = 943.623028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.209015 # Actual altitude: 53.209015 # Commanded vehicle depth:943.623028 # Seafloor depth:-994.262741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.539043 meters # Minimum depth: 994.805075 meters looking forward 100.000000 meters along route # Maximum depth: 996.466336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.805075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730144; longitude = -121.790903; captureRadius = 10; duration = 106; initialDepth = 944.805075; finalDepth = 943.623028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.639713 # Actual altitude: 50.639713 # Commanded vehicle depth:944.805075 # Seafloor depth:-994.805075 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 98.536522 meters # Minimum depth: 994.926395 meters looking forward 100.000000 meters along route # Maximum depth: 996.200782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.926395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729630; longitude = -121.789908; captureRadius = 10; duration = 98; initialDepth = 944.926395; finalDepth = 944.805075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.824429 # Actual altitude: 50.824429 # Commanded vehicle depth:944.926395 # Seafloor depth:-995.750824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.918151 meters # Minimum depth: 994.956148 meters looking forward 100.000000 meters along route # Maximum depth: 996.163223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.956148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.789325; captureRadius = 10; duration = 108; initialDepth = 944.956148; finalDepth = 944.926395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.207075 # Actual altitude: 51.207075 # Commanded vehicle depth:944.956148 # Seafloor depth:-996.163223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.917854 meters # Minimum depth: 991.876032 meters looking forward 100.000000 meters along route # Maximum depth: 995.018702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.876032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.788680; captureRadius = 10; duration = 108; initialDepth = 941.876032; finalDepth = 944.956148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.14267 # Actual altitude: 53.14267 # Commanded vehicle depth:941.876032 # Seafloor depth:-995.018702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.917559 meters # Minimum depth: 991.199153 meters looking forward 100.000000 meters along route # Maximum depth: 997.553507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.199153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.788035; captureRadius = 10; duration = 108; initialDepth = 941.199153; finalDepth = 941.876032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.14267 # Actual altitude: 53.14267 # Commanded vehicle depth:941.199153 # Seafloor depth:-991.307246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.917262 meters # Minimum depth: 990.879433 meters looking forward 100.000000 meters along route # Maximum depth: 992.471961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.879433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.787390; captureRadius = 10; duration = 108; initialDepth = 940.879433; finalDepth = 941.199153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.592528 # Actual altitude: 51.592528 # Commanded vehicle depth:940.879433 # Seafloor depth:-992.471961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.916966 meters # Minimum depth: 989.037614 meters looking forward 100.000000 meters along route # Maximum depth: 991.910601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.037614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.786745; captureRadius = 10; duration = 108; initialDepth = 939.037614; finalDepth = 940.879433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8729870000001 # Actual altitude: 52.8729870000001 # Commanded vehicle depth:939.037614 # Seafloor depth:-991.910601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.916670 meters # Minimum depth: 986.288128 meters looking forward 100.000000 meters along route # Maximum depth: 988.021334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.288128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.786100; captureRadius = 10; duration = 108; initialDepth = 936.288128; finalDepth = 939.037614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8729870000001 # Actual altitude: 52.8729870000001 # Commanded vehicle depth:936.288128 # Seafloor depth:-988.021334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.916373 meters # Minimum depth: 988.576082 meters looking forward 100.000000 meters along route # Maximum depth: 1000.633200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.576082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.785455; captureRadius = 10; duration = 108; initialDepth = 938.576082; finalDepth = 936.288128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.733206 # Actual altitude: 51.733206 # Commanded vehicle depth:938.576082 # Seafloor depth:-988.576082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.916077 meters # Minimum depth: 987.912427 meters looking forward 100.000000 meters along route # Maximum depth: 999.733437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.912427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.784810; captureRadius = 10; duration = 108; initialDepth = 937.912427; finalDepth = 938.576082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.82101 # Actual altitude: 61.82101 # Commanded vehicle depth:937.912427 # Seafloor depth:-999.733437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.915781 meters # Minimum depth: 987.210219 meters looking forward 100.000000 meters along route # Maximum depth: 988.631513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.210219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.784165; captureRadius = 10; duration = 108; initialDepth = 937.210219; finalDepth = 937.912427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.82101 # Actual altitude: 61.82101 # Commanded vehicle depth:937.210219 # Seafloor depth:-987.210219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.915485 meters # Minimum depth: 983.578042 meters looking forward 100.000000 meters along route # Maximum depth: 987.330999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.578042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.783520; captureRadius = 10; duration = 108; initialDepth = 933.578042; finalDepth = 937.210219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.752957 # Actual altitude: 53.752957 # Commanded vehicle depth:933.578042 # Seafloor depth:-987.330999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.915188 meters # Minimum depth: 983.660378 meters looking forward 100.000000 meters along route # Maximum depth: 998.002378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.660378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.782875; captureRadius = 10; duration = 108; initialDepth = 933.660378; finalDepth = 933.578042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.752957 # Actual altitude: 53.752957 # Commanded vehicle depth:933.660378 # Seafloor depth:-983.660378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.914893 meters # Minimum depth: 994.081848 meters looking forward 100.000000 meters along route # Maximum depth: 998.068730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.081848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.782230; captureRadius = 10; duration = 108; initialDepth = 944.081848; finalDepth = 933.660378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.835377 # Actual altitude: 53.835377 # Commanded vehicle depth:944.081848 # Seafloor depth:-997.917225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.914596 meters # Minimum depth: 987.048687 meters looking forward 100.000000 meters along route # Maximum depth: 992.406910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.048687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.781585; captureRadius = 10; duration = 108; initialDepth = 937.048687; finalDepth = 944.081848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3582230000001 # Actual altitude: 55.3582230000001 # Commanded vehicle depth:937.048687 # Seafloor depth:-992.406910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.914299 meters # Minimum depth: 985.226193 meters looking forward 100.000000 meters along route # Maximum depth: 987.066906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.226193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.780940; captureRadius = 10; duration = 108; initialDepth = 935.226193; finalDepth = 937.048687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3582230000001 # Actual altitude: 55.3582230000001 # Commanded vehicle depth:935.226193 # Seafloor depth:-987.066906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.914004 meters # Minimum depth: 985.881715 meters looking forward 100.000000 meters along route # Maximum depth: 987.348852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.881715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.780295; captureRadius = 10; duration = 108; initialDepth = 935.881715; finalDepth = 935.226193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8407130000001 # Actual altitude: 51.8407130000001 # Commanded vehicle depth:935.881715 # Seafloor depth:-985.881715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.913707 meters # Minimum depth: 988.409723 meters looking forward 100.000000 meters along route # Maximum depth: 991.116121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.409723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.779650; captureRadius = 10; duration = 108; initialDepth = 938.409723; finalDepth = 935.881715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.239227 # Actual altitude: 51.239227 # Commanded vehicle depth:938.409723 # Seafloor depth:-989.648950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 119.320180 meters # Minimum depth: 990.114821 meters looking forward 100.000000 meters along route # Maximum depth: 991.966209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.114821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.779006; captureRadius = 10; duration = 119; initialDepth = 940.114821; finalDepth = 938.409723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.239227 # Actual altitude: 51.239227 # Commanded vehicle depth:940.114821 # Seafloor depth:-991.053327 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 41.441949 meters # Minimum depth: 990.667868 meters looking forward 100.000000 meters along route # Maximum depth: 992.181995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.667868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744556; longitude = -121.778299; captureRadius = 10; duration = 41; initialDepth = 940.667868; finalDepth = 940.114821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.938506 # Actual altitude: 50.938506 # Commanded vehicle depth:940.667868 # Seafloor depth:-990.892197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.562396 meters # Minimum depth: 986.565392 meters looking forward 100.000000 meters along route # Maximum depth: 991.973376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.565392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744356; longitude = -121.777912; captureRadius = 10; duration = 108; initialDepth = 936.565392; finalDepth = 940.667868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4079840000001 # Actual altitude: 55.4079840000001 # Commanded vehicle depth:936.565392 # Seafloor depth:-991.973376 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 96.835046 meters # Minimum depth: 987.546143 meters looking forward 100.000000 meters along route # Maximum depth: 990.776455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.546143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743832; longitude = -121.776898; captureRadius = 10; duration = 96; initialDepth = 937.546143; finalDepth = 936.565392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4079840000001 # Actual altitude: 55.4079840000001 # Commanded vehicle depth:937.546143 # Seafloor depth:-987.546143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.913957 meters # Minimum depth: 985.939302 meters looking forward 100.000000 meters along route # Maximum depth: 987.721867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.939302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.777471; captureRadius = 10; duration = 108; initialDepth = 935.939302; finalDepth = 937.546143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8519220000001 # Actual altitude: 50.8519220000001 # Commanded vehicle depth:935.939302 # Seafloor depth:-986.791224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.914254 meters # Minimum depth: 985.382460 meters looking forward 100.000000 meters along route # Maximum depth: 987.501557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.382460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.778116; captureRadius = 10; duration = 108; initialDepth = 935.382460; finalDepth = 935.939302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8372569999999 # Actual altitude: 51.8372569999999 # Commanded vehicle depth:935.38246 # Seafloor depth:-987.219717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.914550 meters # Minimum depth: 984.319722 meters looking forward 100.000000 meters along route # Maximum depth: 985.302825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.319722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.778761; captureRadius = 10; duration = 108; initialDepth = 934.319722; finalDepth = 935.382460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8372569999999 # Actual altitude: 51.8372569999999 # Commanded vehicle depth:934.319722 # Seafloor depth:-984.897996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.914846 meters # Minimum depth: 983.297385 meters looking forward 100.000000 meters along route # Maximum depth: 984.721059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.297385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.779406; captureRadius = 10; duration = 108; initialDepth = 933.297385; finalDepth = 934.319722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5782740000001 # Actual altitude: 50.5782740000001 # Commanded vehicle depth:933.297385 # Seafloor depth:-983.818315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.915142 meters # Minimum depth: 985.932264 meters looking forward 100.000000 meters along route # Maximum depth: 995.048966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.932264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.780051; captureRadius = 10; duration = 108; initialDepth = 935.932264; finalDepth = 933.297385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.52093 # Actual altitude: 50.52093 # Commanded vehicle depth:935.932264 # Seafloor depth:-985.932264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.915439 meters # Minimum depth: 988.067555 meters looking forward 100.000000 meters along route # Maximum depth: 995.134645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.067555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.780696; captureRadius = 10; duration = 108; initialDepth = 938.067555; finalDepth = 935.932264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.06709 # Actual altitude: 57.06709 # Commanded vehicle depth:938.067555 # Seafloor depth:-995.134645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.915735 meters # Minimum depth: 979.477983 meters looking forward 100.000000 meters along route # Maximum depth: 982.922058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.477983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.781341; captureRadius = 10; duration = 108; initialDepth = 929.477983; finalDepth = 938.067555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.06709 # Actual altitude: 57.06709 # Commanded vehicle depth:929.477983 # Seafloor depth:-981.812804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.916030 meters # Minimum depth: 982.100805 meters looking forward 100.000000 meters along route # Maximum depth: 985.354545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.100805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.781986; captureRadius = 10; duration = 108; initialDepth = 932.100805; finalDepth = 929.477983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.334821 # Actual altitude: 52.334821 # Commanded vehicle depth:932.100805 # Seafloor depth:-982.100805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.916328 meters # Minimum depth: 984.966154 meters looking forward 100.000000 meters along route # Maximum depth: 991.936922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.966154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.782631; captureRadius = 10; duration = 108; initialDepth = 934.966154; finalDepth = 932.100805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.966154 # Seafloor depth:-984.966154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.916623 meters # Minimum depth: 993.421268 meters looking forward 100.000000 meters along route # Maximum depth: 999.042269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.421268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.783276; captureRadius = 10; duration = 108; initialDepth = 943.421268; finalDepth = 934.966154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.421268 # Seafloor depth:-993.421268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.916919 meters # Minimum depth: 984.824737 meters looking forward 100.000000 meters along route # Maximum depth: 987.651910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.824737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.783921; captureRadius = 10; duration = 108; initialDepth = 934.824737; finalDepth = 943.421268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.827173 # Actual altitude: 52.827173 # Commanded vehicle depth:934.824737 # Seafloor depth:-987.651910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.917216 meters # Minimum depth: 984.546926 meters looking forward 100.000000 meters along route # Maximum depth: 987.007281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.546926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.784566; captureRadius = 10; duration = 108; initialDepth = 934.546926; finalDepth = 934.824737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.827173 # Actual altitude: 52.827173 # Commanded vehicle depth:934.546926 # Seafloor depth:-984.546926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.917512 meters # Minimum depth: 985.836955 meters looking forward 100.000000 meters along route # Maximum depth: 987.822890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.836955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.785211; captureRadius = 10; duration = 108; initialDepth = 935.836955; finalDepth = 934.546926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.657616 # Actual altitude: 51.657616 # Commanded vehicle depth:935.836955 # Seafloor depth:-987.494571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.917809 meters # Minimum depth: 989.507319 meters looking forward 100.000000 meters along route # Maximum depth: 991.238327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.507319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.785856; captureRadius = 10; duration = 108; initialDepth = 939.507319; finalDepth = 935.836955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.657616 # Actual altitude: 51.657616 # Commanded vehicle depth:939.507319 # Seafloor depth:-989.507319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.918104 meters # Minimum depth: 991.394269 meters looking forward 100.000000 meters along route # Maximum depth: 992.858691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.394269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.786501; captureRadius = 10; duration = 108; initialDepth = 941.394269; finalDepth = 939.507319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.394269 # Seafloor depth:-991.394269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 121.093276 meters # Minimum depth: 991.121698 meters looking forward 100.000000 meters along route # Maximum depth: 994.656722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.121698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.787145; captureRadius = 10; duration = 121; initialDepth = 941.121698; finalDepth = 941.394269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5350239999999 # Actual altitude: 53.5350239999999 # Commanded vehicle depth:941.121698 # Seafloor depth:-994.656722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.848382 meters # Minimum depth: 991.277519 meters looking forward 100.000000 meters along route # Maximum depth: 991.664099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.277519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729735; longitude = -121.787862; captureRadius = 10; duration = 108; initialDepth = 941.277519; finalDepth = 941.121698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5350239999999 # Actual altitude: 53.5350239999999 # Commanded vehicle depth:941.277519 # Seafloor depth:-991.277519 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 39.427308 meters # Minimum depth: 989.992301 meters looking forward 100.000000 meters along route # Maximum depth: 991.714661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.992301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728906; longitude = -121.788507; captureRadius = 10; duration = 39; initialDepth = 939.992301; finalDepth = 941.277519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.72236 # Actual altitude: 51.72236 # Commanded vehicle depth:939.992301 # Seafloor depth:-991.714661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.521108 meters # Minimum depth: 989.934027 meters looking forward 100.000000 meters along route # Maximum depth: 991.700930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.934027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728716; longitude = -121.788139; captureRadius = 10; duration = 110; initialDepth = 939.934027; finalDepth = 939.992301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.72236 # Actual altitude: 51.72236 # Commanded vehicle depth:939.934027 # Seafloor depth:-989.934027 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 107.203825 meters # Minimum depth: 987.440565 meters looking forward 100.000000 meters along route # Maximum depth: 991.756575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.440565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728182; longitude = -121.787107; captureRadius = 10; duration = 107; initialDepth = 937.440565; finalDepth = 939.934027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9425220000001 # Actual altitude: 52.9425220000001 # Commanded vehicle depth:937.440565 # Seafloor depth:-990.383087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.918749 meters # Minimum depth: 986.696273 meters looking forward 100.000000 meters along route # Maximum depth: 988.879958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.696273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.786472; captureRadius = 10; duration = 108; initialDepth = 936.696273; finalDepth = 937.440565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9425220000001 # Actual altitude: 52.9425220000001 # Commanded vehicle depth:936.696273 # Seafloor depth:-987.381069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.918453 meters # Minimum depth: 989.113241 meters looking forward 100.000000 meters along route # Maximum depth: 991.461077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.113241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.785827; captureRadius = 10; duration = 108; initialDepth = 939.113241; finalDepth = 936.696273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.684796 # Actual altitude: 50.684796 # Commanded vehicle depth:939.113241 # Seafloor depth:-989.113241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.918157 meters # Minimum depth: 990.325761 meters looking forward 100.000000 meters along route # Maximum depth: 993.783934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.325761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.785182; captureRadius = 10; duration = 108; initialDepth = 940.325761; finalDepth = 939.113241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.458173 # Actual altitude: 53.458173 # Commanded vehicle depth:940.325761 # Seafloor depth:-993.783934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.917861 meters # Minimum depth: 989.608771 meters looking forward 100.000000 meters along route # Maximum depth: 991.557660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.608771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.784537; captureRadius = 10; duration = 108; initialDepth = 939.608771; finalDepth = 940.325761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.458173 # Actual altitude: 53.458173 # Commanded vehicle depth:939.608771 # Seafloor depth:-990.557349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.917564 meters # Minimum depth: 983.510426 meters looking forward 100.000000 meters along route # Maximum depth: 986.315400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.510426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.783892; captureRadius = 10; duration = 108; initialDepth = 933.510426; finalDepth = 939.608771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8049739999999 # Actual altitude: 52.8049739999999 # Commanded vehicle depth:933.510426 # Seafloor depth:-986.315400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.917268 meters # Minimum depth: 981.332500 meters looking forward 100.000000 meters along route # Maximum depth: 983.642873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.332500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.783248; captureRadius = 10; duration = 108; initialDepth = 931.332500; finalDepth = 933.510426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8049739999999 # Actual altitude: 52.8049739999999 # Commanded vehicle depth:931.3325 # Seafloor depth:-982.267042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.916972 meters # Minimum depth: 981.295991 meters looking forward 100.000000 meters along route # Maximum depth: 989.305612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.295991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.782603; captureRadius = 10; duration = 108; initialDepth = 931.295991; finalDepth = 931.332500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.934542 # Actual altitude: 50.934542 # Commanded vehicle depth:931.295991 # Seafloor depth:-981.295991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.916676 meters # Minimum depth: 991.277242 meters looking forward 100.000000 meters along route # Maximum depth: 997.845910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.277242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.781958; captureRadius = 10; duration = 108; initialDepth = 941.277242; finalDepth = 931.295991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.277242 # Seafloor depth:-991.277242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.916380 meters # Minimum depth: 986.525593 meters looking forward 100.000000 meters along route # Maximum depth: 993.554356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.525593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.781313; captureRadius = 10; duration = 108; initialDepth = 936.525593; finalDepth = 941.277242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.028763 # Actual altitude: 57.028763 # Commanded vehicle depth:936.525593 # Seafloor depth:-993.554356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 228.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.916083 meters # Minimum depth: 981.448672 meters looking forward 100.000000 meters along route # Maximum depth: 987.409357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.448672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.780668; captureRadius = 10; duration = 108; initialDepth = 931.448672; finalDepth = 936.525593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.028763 # Actual altitude: 57.028763 # Commanded vehicle depth:931.448672 # Seafloor depth:-986.488552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 228.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.915787 meters # Minimum depth: 976.950468 meters looking forward 100.000000 meters along route # Maximum depth: 979.813900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.950468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.780023; captureRadius = 10; duration = 108; initialDepth = 926.950468; finalDepth = 931.448672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.03988 # Actual altitude: 55.03988 # Commanded vehicle depth:926.950468 # Seafloor depth:-979.813900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.915491 meters # Minimum depth: 993.103005 meters looking forward 100.000000 meters along route # Maximum depth: 994.907353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.103005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.779378; captureRadius = 10; duration = 108; initialDepth = 943.103005; finalDepth = 926.950468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.863432 # Actual altitude: 52.863432 # Commanded vehicle depth:943.103005 # Seafloor depth:-993.103005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.915195 meters # Minimum depth: 978.324128 meters looking forward 100.000000 meters along route # Maximum depth: 993.481008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.324128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.778733; captureRadius = 10; duration = 108; initialDepth = 928.324128; finalDepth = 943.103005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.15688 # Actual altitude: 65.15688 # Commanded vehicle depth:928.324128 # Seafloor depth:-993.481008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 260.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.914899 meters # Minimum depth: 979.093723 meters looking forward 100.000000 meters along route # Maximum depth: 980.752283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.093723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.778088; captureRadius = 10; duration = 108; initialDepth = 929.093723; finalDepth = 928.324128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.15688 # Actual altitude: 65.15688 # Commanded vehicle depth:929.093723 # Seafloor depth:-979.093723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 260.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.914603 meters # Minimum depth: 982.271112 meters looking forward 100.000000 meters along route # Maximum depth: 983.065427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.271112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.777443; captureRadius = 10; duration = 108; initialDepth = 932.271112; finalDepth = 929.093723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.271112 # Seafloor depth:-982.271112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.914306 meters # Minimum depth: 982.709731 meters looking forward 100.000000 meters along route # Maximum depth: 985.532679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.709731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.776798; captureRadius = 10; duration = 108; initialDepth = 932.709731; finalDepth = 932.271112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.709731 # Seafloor depth:-982.709731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.654499 meters # Minimum depth: 984.021921 meters looking forward 100.000000 meters along route # Maximum depth: 985.396586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.021921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.776153; captureRadius = 10; duration = 110; initialDepth = 934.021921; finalDepth = 932.709731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.021921 # Seafloor depth:-984.021921 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 37.499844 meters # Minimum depth: 984.526378 meters looking forward 100.000000 meters along route # Maximum depth: 985.969711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.526378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743108; longitude = -121.775498; captureRadius = 10; duration = 37; initialDepth = 934.526378; finalDepth = 934.021921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4433329999999 # Actual altitude: 51.4433329999999 # Commanded vehicle depth:934.526378 # Seafloor depth:-985.969711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 112.565951 meters # Minimum depth: 983.003311 meters looking forward 100.000000 meters along route # Maximum depth: 988.946987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.003311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742927; longitude = -121.775148; captureRadius = 10; duration = 112; initialDepth = 933.003311; finalDepth = 934.526378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.272802 # Actual altitude: 52.272802 # Commanded vehicle depth:933.003311 # Seafloor depth:-985.276113 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 51.769444 meters # Minimum depth: 980.731254 meters looking forward 100.000000 meters along route # Maximum depth: 985.847498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.731254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742383; longitude = -121.774097; captureRadius = 10; duration = 51; initialDepth = 930.731254; finalDepth = 933.003311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.272802 # Actual altitude: 52.272802 # Commanded vehicle depth:930.731254 # Seafloor depth:-982.571930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.991010 meters # Minimum depth: 981.305685 meters looking forward 100.000000 meters along route # Maximum depth: 982.496032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.305685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.774404; captureRadius = 10; duration = 108; initialDepth = 931.305685; finalDepth = 930.731254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8406759999999 # Actual altitude: 51.8406759999999 # Commanded vehicle depth:931.305685 # Seafloor depth:-981.305685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.597037 meters # Minimum depth: 979.003931 meters looking forward 100.000000 meters along route # Maximum depth: 983.495688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.003931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.775051; captureRadius = 10; duration = 109; initialDepth = 929.003931; finalDepth = 931.305685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5559440000001 # Actual altitude: 53.5559440000001 # Commanded vehicle depth:929.003931 # Seafloor depth:-982.559875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.385874 meters # Minimum depth: 977.715002 meters looking forward 100.000000 meters along route # Maximum depth: 982.653132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.715002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740326; longitude = -121.775701; captureRadius = 10; duration = 108; initialDepth = 927.715002; finalDepth = 929.003931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5559440000001 # Actual altitude: 53.5559440000001 # Commanded vehicle depth:927.715002 # Seafloor depth:-979.027109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.991901 meters # Minimum depth: 977.113560 meters looking forward 100.000000 meters along route # Maximum depth: 995.447100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.113560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.776344; captureRadius = 10; duration = 108; initialDepth = 927.113560; finalDepth = 927.715002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.312107 # Actual altitude: 51.312107 # Commanded vehicle depth:927.11356 # Seafloor depth:-977.734810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.992200 meters # Minimum depth: 994.652648 meters looking forward 100.000000 meters along route # Maximum depth: 996.730554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.652648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.776990; captureRadius = 10; duration = 108; initialDepth = 944.652648; finalDepth = 927.113560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8407089999999 # Actual altitude: 50.8407089999999 # Commanded vehicle depth:944.652648 # Seafloor depth:-995.493357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.992496 meters # Minimum depth: 974.248872 meters looking forward 100.000000 meters along route # Maximum depth: 994.615005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.248872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.777637; captureRadius = 10; duration = 108; initialDepth = 924.248872; finalDepth = 944.652648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.366133 # Actual altitude: 70.366133 # Commanded vehicle depth:924.248872 # Seafloor depth:-994.615005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 281.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.992794 meters # Minimum depth: 977.702591 meters looking forward 100.000000 meters along route # Maximum depth: 990.035454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.702591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.778283; captureRadius = 10; duration = 108; initialDepth = 927.702591; finalDepth = 924.248872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.366133 # Actual altitude: 70.366133 # Commanded vehicle depth:927.702591 # Seafloor depth:-977.702591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 281.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.993092 meters # Minimum depth: 980.333449 meters looking forward 100.000000 meters along route # Maximum depth: 984.692231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.333449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.778930; captureRadius = 10; duration = 108; initialDepth = 930.333449; finalDepth = 927.702591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.358782 # Actual altitude: 54.358782 # Commanded vehicle depth:930.333449 # Seafloor depth:-984.692231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.993389 meters # Minimum depth: 980.254916 meters looking forward 100.000000 meters along route # Maximum depth: 981.458984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.254916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.779576; captureRadius = 10; duration = 108; initialDepth = 930.254916; finalDepth = 930.333449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.358782 # Actual altitude: 54.358782 # Commanded vehicle depth:930.254916 # Seafloor depth:-980.254916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.993687 meters # Minimum depth: 979.475420 meters looking forward 100.000000 meters along route # Maximum depth: 980.547060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.475420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.780223; captureRadius = 10; duration = 108; initialDepth = 929.475420; finalDepth = 930.254916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.07164 # Actual altitude: 51.07164 # Commanded vehicle depth:929.47542 # Seafloor depth:-980.547060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.993984 meters # Minimum depth: 977.400424 meters looking forward 100.000000 meters along route # Maximum depth: 979.664901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.400424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.780869; captureRadius = 10; duration = 108; initialDepth = 927.400424; finalDepth = 929.475420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.07164 # Actual altitude: 51.07164 # Commanded vehicle depth:927.400424 # Seafloor depth:-978.419663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.994281 meters # Minimum depth: 978.687843 meters looking forward 100.000000 meters along route # Maximum depth: 979.627734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.687843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.781516; captureRadius = 10; duration = 108; initialDepth = 928.687843; finalDepth = 927.400424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.019239 # Actual altitude: 51.019239 # Commanded vehicle depth:928.687843 # Seafloor depth:-979.098768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.994579 meters # Minimum depth: 979.903077 meters looking forward 100.000000 meters along route # Maximum depth: 980.340224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.903077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.782162; captureRadius = 10; duration = 108; initialDepth = 929.903077; finalDepth = 928.687843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4109249999999 # Actual altitude: 50.4109249999999 # Commanded vehicle depth:929.903077 # Seafloor depth:-980.028881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.994877 meters # Minimum depth: 979.900516 meters looking forward 100.000000 meters along route # Maximum depth: 988.625158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.900516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.782809; captureRadius = 10; duration = 108; initialDepth = 929.900516; finalDepth = 929.903077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1258039999999 # Actual altitude: 50.1258039999999 # Commanded vehicle depth:929.900516 # Seafloor depth:-979.900516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.995174 meters # Minimum depth: 989.207292 meters looking forward 100.000000 meters along route # Maximum depth: 992.168964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.207292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.783455; captureRadius = 10; duration = 108; initialDepth = 939.207292; finalDepth = 929.900516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.207292 # Seafloor depth:-989.207292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.421069 meters # Minimum depth: 987.510937 meters looking forward 100.000000 meters along route # Maximum depth: 990.885588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.510937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.784102; captureRadius = 10; duration = 121; initialDepth = 937.510937; finalDepth = 939.207292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.374651 # Actual altitude: 53.374651 # Commanded vehicle depth:937.510937 # Seafloor depth:-990.885588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.733860 meters # Minimum depth: 987.038822 meters looking forward 100.000000 meters along route # Maximum depth: 987.587915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.038822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728627; longitude = -121.784822; captureRadius = 10; duration = 108; initialDepth = 937.038822; finalDepth = 937.510937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.374651 # Actual altitude: 53.374651 # Commanded vehicle depth:937.038822 # Seafloor depth:-987.587915 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 83.455387 meters # Minimum depth: 987.270303 meters looking forward 100.000000 meters along route # Maximum depth: 987.976184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.270303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727800; longitude = -121.785467; captureRadius = 10; duration = 83; initialDepth = 937.270303; finalDepth = 937.038822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.587882 # Actual altitude: 50.587882 # Commanded vehicle depth:937.270303 # Seafloor depth:-987.858185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 108.479343 meters # Minimum depth: 987.112123 meters looking forward 100.000000 meters along route # Maximum depth: 990.000310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.112123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727760; longitude = -121.784546; captureRadius = 10; duration = 108; initialDepth = 937.112123; finalDepth = 937.270303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.824505 # Actual altitude: 50.824505 # Commanded vehicle depth:937.112123 # Seafloor depth:-987.936628 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 96.347173 meters # Minimum depth: 986.803799 meters looking forward 100.000000 meters along route # Maximum depth: 991.308647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.803799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727708; longitude = -121.783348; captureRadius = 10; duration = 96; initialDepth = 936.803799; finalDepth = 937.112123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.824505 # Actual altitude: 50.824505 # Commanded vehicle depth:936.803799 # Seafloor depth:-987.473312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.350782 meters # Minimum depth: 983.373955 meters looking forward 100.000000 meters along route # Maximum depth: 990.961894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.373955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.782785; captureRadius = 10; duration = 108; initialDepth = 933.373955; finalDepth = 936.803799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.367226 # Actual altitude: 54.367226 # Commanded vehicle depth:933.373955 # Seafloor depth:-987.741181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.672396 meters # Minimum depth: 981.262719 meters looking forward 100.000000 meters along route # Maximum depth: 983.657869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.262719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.782152; captureRadius = 10; duration = 110; initialDepth = 931.262719; finalDepth = 933.373955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.367226 # Actual altitude: 54.367226 # Commanded vehicle depth:931.262719 # Seafloor depth:-983.080258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.028310 meters # Minimum depth: 980.034846 meters looking forward 100.000000 meters along route # Maximum depth: 981.282813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.034846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730122; longitude = -121.781505; captureRadius = 10; duration = 106; initialDepth = 930.034846; finalDepth = 931.262719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.817539 # Actual altitude: 51.817539 # Commanded vehicle depth:930.034846 # Seafloor depth:-981.282813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.349923 meters # Minimum depth: 979.303585 meters looking forward 100.000000 meters along route # Maximum depth: 981.690557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.303585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.780886; captureRadius = 10; duration = 108; initialDepth = 929.303585; finalDepth = 930.034846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.247967 # Actual altitude: 51.247967 # Commanded vehicle depth:929.303585 # Seafloor depth:-980.517283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.349636 meters # Minimum depth: 980.611351 meters looking forward 100.000000 meters along route # Maximum depth: 983.454908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.611351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.780253; captureRadius = 10; duration = 108; initialDepth = 930.611351; finalDepth = 929.303585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.213698 # Actual altitude: 51.213698 # Commanded vehicle depth:930.611351 # Seafloor depth:-980.611351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.349351 meters # Minimum depth: 983.738293 meters looking forward 100.000000 meters along route # Maximum depth: 986.561856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.738293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.779619; captureRadius = 10; duration = 108; initialDepth = 933.738293; finalDepth = 930.611351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.823563 # Actual altitude: 52.823563 # Commanded vehicle depth:933.738293 # Seafloor depth:-986.561856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.349064 meters # Minimum depth: 984.148967 meters looking forward 100.000000 meters along route # Maximum depth: 986.217199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.148967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.778986; captureRadius = 10; duration = 108; initialDepth = 934.148967; finalDepth = 933.738293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.823563 # Actual altitude: 52.823563 # Commanded vehicle depth:934.148967 # Seafloor depth:-984.148967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.348777 meters # Minimum depth: 986.276653 meters looking forward 100.000000 meters along route # Maximum depth: 986.917580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.276653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.778353; captureRadius = 10; duration = 108; initialDepth = 936.276653; finalDepth = 934.148967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.640927 # Actual altitude: 50.640927 # Commanded vehicle depth:936.276653 # Seafloor depth:-986.917580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.056448 meters # Minimum depth: 988.686963 meters looking forward 100.000000 meters along route # Maximum depth: 990.977331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.686963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.777720; captureRadius = 10; duration = 109; initialDepth = 938.686963; finalDepth = 936.276653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.640927 # Actual altitude: 50.640927 # Commanded vehicle depth:938.686963 # Seafloor depth:-988.686963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.640248 meters # Minimum depth: 973.123060 meters looking forward 100.000000 meters along route # Maximum depth: 989.051954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.123060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735914; longitude = -121.777083; captureRadius = 10; duration = 107; initialDepth = 923.123060; finalDepth = 938.686963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.928894 # Actual altitude: 65.928894 # Commanded vehicle depth:923.12306 # Seafloor depth:-989.051954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 263.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.347919 meters # Minimum depth: 975.542410 meters looking forward 100.000000 meters along route # Maximum depth: 981.620524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.542410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.776454; captureRadius = 10; duration = 108; initialDepth = 925.542410; finalDepth = 923.123060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.928894 # Actual altitude: 65.928894 # Commanded vehicle depth:925.54241 # Seafloor depth:-975.542410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 263.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.121224 meters # Minimum depth: 984.620620 meters looking forward 100.000000 meters along route # Maximum depth: 996.016508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.620620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.775821; captureRadius = 10; duration = 115; initialDepth = 934.620620; finalDepth = 925.542410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.62062 # Seafloor depth:-984.620620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.573753 meters # Minimum depth: 976.189536 meters looking forward 100.000000 meters along route # Maximum depth: 994.743821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.189536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738448; longitude = -121.775148; captureRadius = 10; duration = 101; initialDepth = 926.189536; finalDepth = 934.620620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.554285 # Actual altitude: 68.554285 # Commanded vehicle depth:926.189536 # Seafloor depth:-994.743821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 274.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.347060 meters # Minimum depth: 976.101116 meters looking forward 100.000000 meters along route # Maximum depth: 979.892303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.101116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.774554; captureRadius = 10; duration = 108; initialDepth = 926.101116; finalDepth = 926.189536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.554285 # Actual altitude: 68.554285 # Commanded vehicle depth:926.101116 # Seafloor depth:-976.101116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 274.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.346773 meters # Minimum depth: 979.611183 meters looking forward 100.000000 meters along route # Maximum depth: 981.845866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.611183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.773921; captureRadius = 10; duration = 108; initialDepth = 929.611183; finalDepth = 926.101116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.611183 # Seafloor depth:-979.611183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.326062 meters # Minimum depth: 980.314455 meters looking forward 100.000000 meters along route # Maximum depth: 983.155511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.314455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.773288; captureRadius = 10; duration = 101; initialDepth = 930.314455; finalDepth = 929.611183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.314455 # Seafloor depth:-980.314455 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 46.113135 meters # Minimum depth: 980.676642 meters looking forward 100.000000 meters along route # Maximum depth: 984.224552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.676642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741659; longitude = -121.772696; captureRadius = 10; duration = 46; initialDepth = 930.676642; finalDepth = 930.314455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.696405 # Actual altitude: 52.696405 # Commanded vehicle depth:930.676642 # Seafloor depth:-983.373047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.818902 meters # Minimum depth: 979.940936 meters looking forward 100.000000 meters along route # Maximum depth: 982.818682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.940936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.772265; captureRadius = 10; duration = 103; initialDepth = 929.940936; finalDepth = 930.676642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.696405 # Actual altitude: 52.696405 # Commanded vehicle depth:929.940936 # Seafloor depth:-980.397152 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 6.738002 meters # Minimum depth: 979.940936 meters looking forward 100.000000 meters along route # Maximum depth: 982.818682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.940936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740935; longitude = -121.771296; captureRadius = 10; duration = 6; initialDepth = 929.940936; finalDepth = 929.940936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.336316 # Actual altitude: 51.336316 # Commanded vehicle depth:929.940936 # Seafloor depth:-981.277252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.528375 meters # Minimum depth: 979.446363 meters looking forward 100.000000 meters along route # Maximum depth: 980.754372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.446363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.771336; captureRadius = 10; duration = 108; initialDepth = 929.446363; finalDepth = 929.940936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.336316 # Actual altitude: 51.336316 # Commanded vehicle depth:929.446363 # Seafloor depth:-980.754372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.528665 meters # Minimum depth: 977.885621 meters looking forward 100.000000 meters along route # Maximum depth: 981.178867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.885621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.771972; captureRadius = 10; duration = 108; initialDepth = 927.885621; finalDepth = 929.446363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.835742 # Actual altitude: 52.835742 # Commanded vehicle depth:927.885621 # Seafloor depth:-980.721363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.528954 meters # Minimum depth: 974.438194 meters looking forward 100.000000 meters along route # Maximum depth: 978.862767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.438194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.772609; captureRadius = 10; duration = 108; initialDepth = 924.438194; finalDepth = 927.885621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4048630000001 # Actual altitude: 54.4048630000001 # Commanded vehicle depth:924.438194 # Seafloor depth:-978.843057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.529244 meters # Minimum depth: 974.451809 meters looking forward 100.000000 meters along route # Maximum depth: 991.440734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.451809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.773246; captureRadius = 10; duration = 108; initialDepth = 924.451809; finalDepth = 924.438194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4048630000001 # Actual altitude: 54.4048630000001 # Commanded vehicle depth:924.451809 # Seafloor depth:-974.451809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.529533 meters # Minimum depth: 991.076976 meters looking forward 100.000000 meters along route # Maximum depth: 992.724826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.076976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.773883; captureRadius = 10; duration = 108; initialDepth = 941.076976; finalDepth = 924.451809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6478500000001 # Actual altitude: 51.6478500000001 # Commanded vehicle depth:941.076976 # Seafloor depth:-992.724826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.529823 meters # Minimum depth: 973.283659 meters looking forward 100.000000 meters along route # Maximum depth: 982.914052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.283659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.774520; captureRadius = 10; duration = 108; initialDepth = 923.283659; finalDepth = 941.076976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.630393 # Actual altitude: 59.630393 # Commanded vehicle depth:923.283659 # Seafloor depth:-982.914052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 238.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.530112 meters # Minimum depth: 974.595987 meters looking forward 100.000000 meters along route # Maximum depth: 976.250697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.595987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.775157; captureRadius = 10; duration = 108; initialDepth = 924.595987; finalDepth = 923.283659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.630393 # Actual altitude: 59.630393 # Commanded vehicle depth:924.595987 # Seafloor depth:-974.595987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 238.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.530401 meters # Minimum depth: 975.816747 meters looking forward 100.000000 meters along route # Maximum depth: 979.463485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.816747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.775794; captureRadius = 10; duration = 108; initialDepth = 925.816747; finalDepth = 924.595987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2609990000001 # Actual altitude: 50.2609990000001 # Commanded vehicle depth:925.816747 # Seafloor depth:-976.077746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.073997 meters # Minimum depth: 975.581620 meters looking forward 100.000000 meters along route # Maximum depth: 976.493114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.581620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.776431; captureRadius = 10; duration = 111; initialDepth = 925.581620; finalDepth = 925.816747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9114939999999 # Actual altitude: 50.9114939999999 # Commanded vehicle depth:925.58162 # Seafloor depth:-976.493114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.987675 meters # Minimum depth: 976.413850 meters looking forward 100.000000 meters along route # Maximum depth: 979.335003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.413850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733401; longitude = -121.777083; captureRadius = 10; duration = 105; initialDepth = 926.413850; finalDepth = 925.581620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9114939999999 # Actual altitude: 50.9114939999999 # Commanded vehicle depth:926.41385 # Seafloor depth:-976.413850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.531270 meters # Minimum depth: 979.763127 meters looking forward 100.000000 meters along route # Maximum depth: 984.038307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.763127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.777705; captureRadius = 10; duration = 108; initialDepth = 929.763127; finalDepth = 926.413850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.763127 # Seafloor depth:-979.763127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.176916 meters # Minimum depth: 979.226038 meters looking forward 100.000000 meters along route # Maximum depth: 982.584360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.226038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.778342; captureRadius = 10; duration = 115; initialDepth = 929.226038; finalDepth = 929.763127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3583219999999 # Actual altitude: 53.3583219999999 # Commanded vehicle depth:929.226038 # Seafloor depth:-982.584360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.886492 meters # Minimum depth: 977.964531 meters looking forward 100.000000 meters along route # Maximum depth: 982.662866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.964531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730882; longitude = -121.779018; captureRadius = 10; duration = 101; initialDepth = 927.964531; finalDepth = 929.226038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3583219999999 # Actual altitude: 53.3583219999999 # Commanded vehicle depth:927.964531 # Seafloor depth:-979.151743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.532139 meters # Minimum depth: 981.983965 meters looking forward 100.000000 meters along route # Maximum depth: 983.114840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.983965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.779615; captureRadius = 10; duration = 108; initialDepth = 931.983965; finalDepth = 927.964531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.187212 # Actual altitude: 51.187212 # Commanded vehicle depth:931.983965 # Seafloor depth:-983.114840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 119.279901 meters # Minimum depth: 981.640441 meters looking forward 100.000000 meters along route # Maximum depth: 984.112433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.640441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.780252; captureRadius = 10; duration = 119; initialDepth = 931.640441; finalDepth = 931.983965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1308749999999 # Actual altitude: 51.1308749999999 # Commanded vehicle depth:931.640441 # Seafloor depth:-981.640441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.844400 meters # Minimum depth: 982.308428 meters looking forward 100.000000 meters along route # Maximum depth: 985.803427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.308428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728363; longitude = -121.780952; captureRadius = 10; duration = 109; initialDepth = 932.308428; finalDepth = 931.640441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.668729 # Actual altitude: 52.668729 # Commanded vehicle depth:932.308428 # Seafloor depth:-984.977157 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 83.777341 meters # Minimum depth: 984.216176 meters looking forward 100.000000 meters along route # Maximum depth: 987.405315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.216176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727524; longitude = -121.781597; captureRadius = 10; duration = 83; initialDepth = 934.216176; finalDepth = 932.308428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.668729 # Actual altitude: 52.668729 # Commanded vehicle depth:934.216176 # Seafloor depth:-984.961197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 108.970102 meters # Minimum depth: 982.912061 meters looking forward 100.000000 meters along route # Maximum depth: 985.870758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.912061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727604; longitude = -121.780676; captureRadius = 10; duration = 108; initialDepth = 932.912061; finalDepth = 934.216176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4531050000001 # Actual altitude: 51.4531050000001 # Commanded vehicle depth:932.912061 # Seafloor depth:-984.365166 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 96.452730 meters # Minimum depth: 984.693344 meters looking forward 100.000000 meters along route # Maximum depth: 986.257360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.693344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727708; longitude = -121.779478; captureRadius = 10; duration = 96; initialDepth = 934.693344; finalDepth = 932.912061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4531050000001 # Actual altitude: 51.4531050000001 # Commanded vehicle depth:934.693344 # Seafloor depth:-984.693344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.469490 meters # Minimum depth: 984.497221 meters looking forward 100.000000 meters along route # Maximum depth: 985.031185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.497221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.778913; captureRadius = 10; duration = 108; initialDepth = 934.497221; finalDepth = 934.693344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.497221 # Seafloor depth:-984.497221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.503895 meters # Minimum depth: 980.552245 meters looking forward 100.000000 meters along route # Maximum depth: 985.329745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.552245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.778277; captureRadius = 10; duration = 109; initialDepth = 930.552245; finalDepth = 934.497221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7775 # Actual altitude: 54.7775 # Commanded vehicle depth:930.552245 # Seafloor depth:-985.329745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.434219 meters # Minimum depth: 976.411360 meters looking forward 100.000000 meters along route # Maximum depth: 980.464857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.411360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730112; longitude = -121.777636; captureRadius = 10; duration = 107; initialDepth = 926.411360; finalDepth = 930.552245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7775 # Actual altitude: 54.7775 # Commanded vehicle depth:926.41136 # Seafloor depth:-980.464857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.468625 meters # Minimum depth: 975.787678 meters looking forward 100.000000 meters along route # Maximum depth: 978.065457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.787678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.777006; captureRadius = 10; duration = 108; initialDepth = 925.787678; finalDepth = 926.411360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0534970000001 # Actual altitude: 54.0534970000001 # Commanded vehicle depth:925.787678 # Seafloor depth:-978.065457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.283334 meters # Minimum depth: 978.115127 meters looking forward 100.000000 meters along route # Maximum depth: 981.406615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.115127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.776370; captureRadius = 10; duration = 114; initialDepth = 928.115127; finalDepth = 925.787678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.277779 # Actual altitude: 52.277779 # Commanded vehicle depth:928.115127 # Seafloor depth:-979.259695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.653050 meters # Minimum depth: 978.209365 meters looking forward 100.000000 meters along route # Maximum depth: 980.271670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.209365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732636; longitude = -121.775701; captureRadius = 10; duration = 102; initialDepth = 928.209365; finalDepth = 928.115127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1445679999999 # Actual altitude: 51.1445679999999 # Commanded vehicle depth:928.209365 # Seafloor depth:-978.209365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.467760 meters # Minimum depth: 977.601445 meters looking forward 100.000000 meters along route # Maximum depth: 980.086026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.601445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.775099; captureRadius = 10; duration = 108; initialDepth = 927.601445; finalDepth = 928.209365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7587559999999 # Actual altitude: 50.7587559999999 # Commanded vehicle depth:927.601445 # Seafloor depth:-978.360201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.467471 meters # Minimum depth: 974.545704 meters looking forward 100.000000 meters along route # Maximum depth: 978.526718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.545704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.774464; captureRadius = 10; duration = 108; initialDepth = 924.545704; finalDepth = 927.601445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.981014 # Actual altitude: 53.981014 # Commanded vehicle depth:924.545704 # Seafloor depth:-978.526718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.467183 meters # Minimum depth: 972.189378 meters looking forward 100.000000 meters along route # Maximum depth: 990.256531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.189378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.773828; captureRadius = 10; duration = 108; initialDepth = 922.189378; finalDepth = 924.545704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.981014 # Actual altitude: 53.981014 # Commanded vehicle depth:922.189378 # Seafloor depth:-972.189378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.466894 meters # Minimum depth: 986.715299 meters looking forward 100.000000 meters along route # Maximum depth: 990.289058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.715299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.773192; captureRadius = 10; duration = 108; initialDepth = 936.715299; finalDepth = 922.189378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.573759 # Actual altitude: 53.573759 # Commanded vehicle depth:936.715299 # Seafloor depth:-990.289058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.466606 meters # Minimum depth: 975.458196 meters looking forward 100.000000 meters along route # Maximum depth: 984.097624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.458196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.772557; captureRadius = 10; duration = 108; initialDepth = 925.458196; finalDepth = 936.715299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.639428 # Actual altitude: 58.639428 # Commanded vehicle depth:925.458196 # Seafloor depth:-984.097624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 234.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.712265 meters # Minimum depth: 973.366737 meters looking forward 100.000000 meters along route # Maximum depth: 975.944439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.366737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.771921; captureRadius = 10; duration = 109; initialDepth = 923.366737; finalDepth = 925.458196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.639428 # Actual altitude: 58.639428 # Commanded vehicle depth:923.366737 # Seafloor depth:-973.366737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 234.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.220082 meters # Minimum depth: 975.551681 meters looking forward 100.000000 meters along route # Maximum depth: 977.710744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.551681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738405; longitude = -121.771278; captureRadius = 10; duration = 107; initialDepth = 925.551681; finalDepth = 923.366737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.551681 # Seafloor depth:-975.551681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 128.831309 meters # Minimum depth: 975.640021 meters looking forward 100.000000 meters along route # Maximum depth: 978.780335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.640021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.770650; captureRadius = 10; duration = 128; initialDepth = 925.640021; finalDepth = 925.551681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4559089999999 # Actual altitude: 51.4559089999999 # Commanded vehicle depth:925.640021 # Seafloor depth:-977.095930 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 32.259061 meters # Minimum depth: 975.640021 meters looking forward 100.000000 meters along route # Maximum depth: 978.780335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.640021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740210; longitude = -121.769895; captureRadius = 10; duration = 32; initialDepth = 925.640021; finalDepth = 925.640021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2545409999999 # Actual altitude: 52.2545409999999 # Commanded vehicle depth:925.640021 # Seafloor depth:-977.894562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 117.751384 meters # Minimum depth: 975.483377 meters looking forward 100.000000 meters along route # Maximum depth: 978.553907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.483377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.769594; captureRadius = 10; duration = 117; initialDepth = 925.483377; finalDepth = 925.640021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2545409999999 # Actual altitude: 52.2545409999999 # Commanded vehicle depth:925.483377 # Seafloor depth:-976.941607 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 3.443452 meters # Minimum depth: 975.483377 meters looking forward 100.000000 meters along route # Maximum depth: 978.553907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.483377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739486; longitude = -121.768494; captureRadius = 10; duration = 3; initialDepth = 925.483377; finalDepth = 925.483377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.45823 # Actual altitude: 51.45823 # Commanded vehicle depth:925.483377 # Seafloor depth:-975.956696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.064624 meters # Minimum depth: 974.683711 meters looking forward 100.000000 meters along route # Maximum depth: 978.743352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.683711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739460; longitude = -121.768514; captureRadius = 10; duration = 103; initialDepth = 924.683711; finalDepth = 925.483377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.414003 # Actual altitude: 53.414003 # Commanded vehicle depth:924.683711 # Seafloor depth:-978.097714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.537055 meters # Minimum depth: 973.035735 meters looking forward 100.000000 meters along route # Maximum depth: 975.922057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.035735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.769119; captureRadius = 10; duration = 108; initialDepth = 923.035735; finalDepth = 924.683711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.414003 # Actual altitude: 53.414003 # Commanded vehicle depth:923.035735 # Seafloor depth:-975.922057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.537344 meters # Minimum depth: 973.214272 meters looking forward 100.000000 meters along route # Maximum depth: 974.306805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.214272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.769756; captureRadius = 10; duration = 108; initialDepth = 923.214272; finalDepth = 923.035735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.886322 # Actual altitude: 52.886322 # Commanded vehicle depth:923.214272 # Seafloor depth:-974.306805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.537634 meters # Minimum depth: 970.641984 meters looking forward 100.000000 meters along route # Maximum depth: 979.871025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.641984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.770393; captureRadius = 10; duration = 108; initialDepth = 920.641984; finalDepth = 923.214272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.890202 # Actual altitude: 51.890202 # Commanded vehicle depth:920.641984 # Seafloor depth:-972.532186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.537924 meters # Minimum depth: 980.149227 meters looking forward 100.000000 meters along route # Maximum depth: 984.206347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.149227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.771030; captureRadius = 10; duration = 108; initialDepth = 930.149227; finalDepth = 920.641984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.890202 # Actual altitude: 51.890202 # Commanded vehicle depth:930.149227 # Seafloor depth:-980.149227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.538213 meters # Minimum depth: 986.267031 meters looking forward 100.000000 meters along route # Maximum depth: 989.720680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.267031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.771667; captureRadius = 10; duration = 108; initialDepth = 936.267031; finalDepth = 930.149227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.267031 # Seafloor depth:-986.267031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.538502 meters # Minimum depth: 971.319351 meters looking forward 100.000000 meters along route # Maximum depth: 978.912881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.319351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.772305; captureRadius = 10; duration = 108; initialDepth = 921.319351; finalDepth = 936.267031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.59353 # Actual altitude: 57.59353 # Commanded vehicle depth:921.319351 # Seafloor depth:-978.912881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 230.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.538792 meters # Minimum depth: 971.567524 meters looking forward 100.000000 meters along route # Maximum depth: 973.660292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.567524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.772942; captureRadius = 10; duration = 108; initialDepth = 921.567524; finalDepth = 921.319351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.59353 # Actual altitude: 57.59353 # Commanded vehicle depth:921.567524 # Seafloor depth:-971.567524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 230.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.539082 meters # Minimum depth: 973.485501 meters looking forward 100.000000 meters along route # Maximum depth: 974.625280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.485501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.773579; captureRadius = 10; duration = 108; initialDepth = 923.485501; finalDepth = 921.567524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.971757 # Actual altitude: 50.971757 # Commanded vehicle depth:923.485501 # Seafloor depth:-974.457258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.708687 meters # Minimum depth: 974.222462 meters looking forward 100.000000 meters along route # Maximum depth: 977.694857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.222462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.774216; captureRadius = 10; duration = 111; initialDepth = 924.222462; finalDepth = 923.485501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.971757 # Actual altitude: 50.971757 # Commanded vehicle depth:924.222462 # Seafloor depth:-974.222462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.370345 meters # Minimum depth: 977.159899 meters looking forward 100.000000 meters along route # Maximum depth: 980.510042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.159899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731185; longitude = -121.774872; captureRadius = 10; duration = 105; initialDepth = 927.159899; finalDepth = 924.222462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.570846 # Actual altitude: 50.570846 # Commanded vehicle depth:927.159899 # Seafloor depth:-977.730745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.539951 meters # Minimum depth: 977.297682 meters looking forward 100.000000 meters along route # Maximum depth: 980.742373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.297682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.775490; captureRadius = 10; duration = 108; initialDepth = 927.297682; finalDepth = 927.159899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.444691 # Actual altitude: 53.444691 # Commanded vehicle depth:927.297682 # Seafloor depth:-980.742373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 115.727819 meters # Minimum depth: 978.884473 meters looking forward 100.000000 meters along route # Maximum depth: 982.418270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.884473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.776127; captureRadius = 10; duration = 115; initialDepth = 928.884473; finalDepth = 927.297682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.444691 # Actual altitude: 53.444691 # Commanded vehicle depth:928.884473 # Seafloor depth:-978.884473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 125.508295 meters # Minimum depth: 981.246824 meters looking forward 100.000000 meters along route # Maximum depth: 984.533056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.246824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728667; longitude = -121.776806; captureRadius = 10; duration = 125; initialDepth = 931.246824; finalDepth = 928.884473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.480851 # Actual altitude: 51.480851 # Commanded vehicle depth:931.246824 # Seafloor depth:-982.727675 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 66.735236 meters # Minimum depth: 982.685593 meters looking forward 100.000000 meters along route # Maximum depth: 984.533056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.685593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727708; longitude = -121.777543; captureRadius = 10; duration = 66; initialDepth = 932.685593; finalDepth = 931.246824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.480851 # Actual altitude: 51.480851 # Commanded vehicle depth:932.685593 # Seafloor depth:-982.879898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 116.890768 meters # Minimum depth: 982.316659 meters looking forward 100.000000 meters along route # Maximum depth: 984.723534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.316659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727741; longitude = -121.776806; captureRadius = 10; duration = 116; initialDepth = 932.316659; finalDepth = 932.685593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.194305 # Actual altitude: 50.194305 # Commanded vehicle depth:932.316659 # Seafloor depth:-982.316659 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 15.621856 meters # Minimum depth: 981.405163 meters looking forward 100.000000 meters along route # Maximum depth: 984.723534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.405163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727800; longitude = -121.775516; captureRadius = 10; duration = 15; initialDepth = 931.405163; finalDepth = 932.316659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.624515 # Actual altitude: 51.624515 # Commanded vehicle depth:931.405163 # Seafloor depth:-983.029678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.031334 meters # Minimum depth: 981.166265 meters looking forward 100.000000 meters along route # Maximum depth: 983.029741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.166265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727919; longitude = -121.775424; captureRadius = 10; duration = 105; initialDepth = 931.166265; finalDepth = 931.405163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.624515 # Actual altitude: 51.624515 # Commanded vehicle depth:931.166265 # Seafloor depth:-981.166265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.540039 meters # Minimum depth: 981.567295 meters looking forward 100.000000 meters along route # Maximum depth: 983.449134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.567295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.774808; captureRadius = 10; duration = 108; initialDepth = 931.567295; finalDepth = 931.166265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.881839 # Actual altitude: 51.881839 # Commanded vehicle depth:931.567295 # Seafloor depth:-983.449134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 116.069655 meters # Minimum depth: 976.428230 meters looking forward 100.000000 meters along route # Maximum depth: 981.762733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.428230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.774171; captureRadius = 10; duration = 116; initialDepth = 926.428230; finalDepth = 931.567295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.334503 # Actual altitude: 55.334503 # Commanded vehicle depth:926.42823 # Seafloor depth:-981.762733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.009554 meters # Minimum depth: 974.822160 meters looking forward 100.000000 meters along route # Maximum depth: 976.205246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.822160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730438; longitude = -121.773489; captureRadius = 10; duration = 101; initialDepth = 924.822160; finalDepth = 926.428230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.334503 # Actual altitude: 55.334503 # Commanded vehicle depth:924.82216 # Seafloor depth:-976.205246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.539170 meters # Minimum depth: 972.858047 meters looking forward 100.000000 meters along route # Maximum depth: 976.199169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.858047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.772897; captureRadius = 10; duration = 108; initialDepth = 922.858047; finalDepth = 924.822160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3411219999999 # Actual altitude: 53.3411219999999 # Commanded vehicle depth:922.858047 # Seafloor depth:-976.199169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.538881 meters # Minimum depth: 972.703166 meters looking forward 100.000000 meters along route # Maximum depth: 973.985312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.703166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.772260; captureRadius = 10; duration = 108; initialDepth = 922.703166; finalDepth = 922.858047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3411219999999 # Actual altitude: 53.3411219999999 # Commanded vehicle depth:922.703166 # Seafloor depth:-972.703166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.538591 meters # Minimum depth: 971.959680 meters looking forward 100.000000 meters along route # Maximum depth: 973.956930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.959680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.771622; captureRadius = 10; duration = 108; initialDepth = 921.959680; finalDepth = 922.703166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.15887 # Actual altitude: 50.15887 # Commanded vehicle depth:921.95968 # Seafloor depth:-972.118550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.538302 meters # Minimum depth: 972.635531 meters looking forward 100.000000 meters along route # Maximum depth: 988.641904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.635531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.770985; captureRadius = 10; duration = 108; initialDepth = 922.635531; finalDepth = 921.959680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.15887 # Actual altitude: 50.15887 # Commanded vehicle depth:922.635531 # Seafloor depth:-972.635531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.538012 meters # Minimum depth: 981.237827 meters looking forward 100.000000 meters along route # Maximum depth: 987.052011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.237827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.770348; captureRadius = 10; duration = 108; initialDepth = 931.237827; finalDepth = 922.635531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.814184 # Actual altitude: 55.814184 # Commanded vehicle depth:931.237827 # Seafloor depth:-987.052011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.752669 meters # Minimum depth: 968.749802 meters looking forward 100.000000 meters along route # Maximum depth: 980.293754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.749802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.769711; captureRadius = 10; duration = 109; initialDepth = 918.749802; finalDepth = 931.237827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.543952 # Actual altitude: 61.543952 # Commanded vehicle depth:918.749802 # Seafloor depth:-980.293754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 246.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.322487 meters # Minimum depth: 968.650427 meters looking forward 100.000000 meters along route # Maximum depth: 972.078365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.650427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736194; longitude = -121.769067; captureRadius = 10; duration = 107; initialDepth = 918.650427; finalDepth = 918.749802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.543952 # Actual altitude: 61.543952 # Commanded vehicle depth:918.650427 # Seafloor depth:-968.776277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 246.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 128.129396 meters # Minimum depth: 970.678172 meters looking forward 100.000000 meters along route # Maximum depth: 972.193668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.678172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.768437; captureRadius = 10; duration = 128; initialDepth = 920.678172; finalDepth = 918.650427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.515496 # Actual altitude: 51.515496 # Commanded vehicle depth:920.678172 # Seafloor depth:-972.193668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.687197 meters # Minimum depth: 972.070514 meters looking forward 100.000000 meters along route # Maximum depth: 973.141743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.070514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737993; longitude = -121.767685; captureRadius = 10; duration = 100; initialDepth = 922.070514; finalDepth = 920.678172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.515496 # Actual altitude: 51.515496 # Commanded vehicle depth:922.070514 # Seafloor depth:-972.373180 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 51.771374 # Actual altitude: 51.771374 # Commanded vehicle depth:922.070514 # Seafloor depth:-973.841888 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 207.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 972.070514 meters looking forward 100.000000 meters along route # Maximum depth: 973.841888 meters looking forward 100.000000 meters along route # Vehicle depth: 922.070514 meters behavior waypoint { latitude = 35.738762; longitude = -121.767094; captureRadius = 10; duration = 500; depth = 922.070514; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 922.070514 meters set by local depth and desired altitude behavior descend { duration = 2797; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 972.070514 meters looking forward 100.000000 meters along route # Maximum depth: 973.841888 meters looking forward 100.000000 meters along route # Vehicle depth: 3.000000 meters behavior waypoint { latitude = 35.738762; longitude = -121.767094; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 211.346413; 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 = 211.346413; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; 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_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################