# 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: LuciaMAUV2bv1.rte # Mission File: LuciaMAUV2bv1.cfg # Distance: 9544.099141 (m) # Estimated Time: 9937 (s) 2.760 (hr) # Abort Time: 12918 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 2089 (s) # Way Points: 6 # Route Points: 90 # 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 -121.790442 35.763180 -1016.655914 0.000000 1 # 1 -121.805737 35.744569 -1021.699005 2484.866375 1 # 2 -121.795141 35.739133 -1004.496674 3617.038281 4 # 3 -121.783901 35.744016 -1000.832870 4768.827292 3 # 4 -121.810159 35.756454 -1032.161774 7514.941476 4 # 5 -121.788876 35.762259 -1015.037842 9544.099141 1 # # A total of 90 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 12918; } # # 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 = 2089; 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 5 # Segment length 8.780307 meters # Minimum depth: 1015.037842 meters looking forward 100.000000 meters along route # Maximum depth: 1015.037842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.037842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762259; longitude = -121.788876; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 965.037842; finalDepth = 965.037842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.037842 # Seafloor depth:-1015.037842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 105.408284 meters # Minimum depth: 1012.400316 meters looking forward 100.000000 meters along route # Maximum depth: 1017.409556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.400316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762234; longitude = -121.788968; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 962.400316; finalDepth = 965.037842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.313607 # Actual altitude: 53.313607 # Commanded vehicle depth:962.400316 # Seafloor depth:-1015.713923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.25; 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 = 213.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.408613 meters # Minimum depth: 1014.829671 meters looking forward 100.000000 meters along route # Maximum depth: 1017.037183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.829671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761932; longitude = -121.790074; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 964.829671; finalDepth = 962.400316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.313607 # Actual altitude: 53.313607 # Commanded vehicle depth:964.829671 # Seafloor depth:-1017.037183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.25; 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 = 213.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.408942 meters # Minimum depth: 1016.259816 meters looking forward 100.000000 meters along route # Maximum depth: 1018.254121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.259816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761631; longitude = -121.791179; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 966.259816; finalDepth = 964.829671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2075120000001 # Actual altitude: 52.2075120000001 # Commanded vehicle depth:966.259816 # Seafloor depth:-1016.608470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.409270 meters # Minimum depth: 1016.674138 meters looking forward 100.000000 meters along route # Maximum depth: 1018.019725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.674138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761329; longitude = -121.792285; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 966.674138; finalDepth = 966.259816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.245433 # Actual altitude: 51.245433 # Commanded vehicle depth:966.674138 # Seafloor depth:-1017.919571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.98; 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 = 204.98; 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 5 # Segment length 105.409600 meters # Minimum depth: 1016.290735 meters looking forward 100.000000 meters along route # Maximum depth: 1019.823918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.290735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761028; longitude = -121.793391; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 966.290735; finalDepth = 966.674138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.245433 # Actual altitude: 51.245433 # Commanded vehicle depth:966.290735 # Seafloor depth:-1016.708452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.98; 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 = 204.98; 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 5 # Segment length 105.409929 meters # Minimum depth: 1016.688156 meters looking forward 100.000000 meters along route # Maximum depth: 1019.840140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.688156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760726; longitude = -121.794496; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 966.688156; finalDepth = 966.290735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4177169999999 # Actual altitude: 50.4177169999999 # Commanded vehicle depth:966.688156 # Seafloor depth:-1017.046120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.410257 meters # Minimum depth: 1022.407398 meters looking forward 100.000000 meters along route # Maximum depth: 1026.601278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.407398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760425; longitude = -121.795602; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 972.407398; finalDepth = 966.688156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1938800000001 # Actual altitude: 54.1938800000001 # Commanded vehicle depth:972.407398 # Seafloor depth:-1026.601278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.78; 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 = 216.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.410587 meters # Minimum depth: 1022.453033 meters looking forward 100.000000 meters along route # Maximum depth: 1025.747512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.453033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760123; longitude = -121.796707; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 972.453033; finalDepth = 972.407398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1938800000001 # Actual altitude: 54.1938800000001 # Commanded vehicle depth:972.453033 # Seafloor depth:-1025.747512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.78; 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 = 216.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.410916 meters # Minimum depth: 1023.640635 meters looking forward 100.000000 meters along route # Maximum depth: 1024.959329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.640635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759821; longitude = -121.797813; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 973.640635; finalDepth = 972.453033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2944789999999 # Actual altitude: 53.2944789999999 # Commanded vehicle depth:973.640635 # Seafloor depth:-1024.959329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.411245 meters # Minimum depth: 1022.089634 meters looking forward 100.000000 meters along route # Maximum depth: 1024.142048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.089634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759520; longitude = -121.798919; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 972.089634; finalDepth = 973.640635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0524139999999 # Actual altitude: 52.0524139999999 # Commanded vehicle depth:972.089634 # Seafloor depth:-1024.142048 # 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 = 156.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.411574 meters # Minimum depth: 1021.493029 meters looking forward 100.000000 meters along route # Maximum depth: 1022.754070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.493029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759218; longitude = -121.800024; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 971.493029; finalDepth = 972.089634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0524139999999 # Actual altitude: 52.0524139999999 # Commanded vehicle depth:971.493029 # Seafloor depth:-1021.493029 # 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 = 156.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.411903 meters # Minimum depth: 1023.197549 meters looking forward 100.000000 meters along route # Maximum depth: 1025.761615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.197549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758917; longitude = -121.801130; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 973.197549; finalDepth = 971.493029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.197549 # Seafloor depth:-1023.197549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 105.412233 meters # Minimum depth: 1023.673052 meters looking forward 100.000000 meters along route # Maximum depth: 1027.358964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.673052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758615; longitude = -121.802235; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 973.673052; finalDepth = 973.197549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6652620000001 # Actual altitude: 53.6652620000001 # Commanded vehicle depth:973.673052 # Seafloor depth:-1027.338314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.412561 meters # Minimum depth: 1025.823014 meters looking forward 100.000000 meters along route # Maximum depth: 1029.986757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.823014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758314; longitude = -121.803341; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 975.823014; finalDepth = 973.673052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6652620000001 # Actual altitude: 53.6652620000001 # Commanded vehicle depth:975.823014 # Seafloor depth:-1026.114230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.412891 meters # Minimum depth: 1026.447919 meters looking forward 100.000000 meters along route # Maximum depth: 1031.935991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.447919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758012; longitude = -121.804447; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 976.447919; finalDepth = 975.823014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2912159999998 # Actual altitude: 50.2912159999998 # Commanded vehicle depth:976.447919 # Seafloor depth:-1026.447919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.413220 meters # Minimum depth: 1028.771241 meters looking forward 100.000000 meters along route # Maximum depth: 1031.474137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.771241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757710; longitude = -121.805552; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 978.771241; finalDepth = 976.447919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.771241 # Seafloor depth:-1028.771241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 105.413549 meters # Minimum depth: 1031.282912 meters looking forward 100.000000 meters along route # Maximum depth: 1034.664857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.282912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757409; longitude = -121.806658; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 981.282912; finalDepth = 978.771241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.282912 # Seafloor depth:-1031.282912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 105.413879 meters # Minimum depth: 1028.831802 meters looking forward 100.000000 meters along route # Maximum depth: 1031.410551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.831802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757107; longitude = -121.807764; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 978.831802; finalDepth = 981.282912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.578749 # Actual altitude: 52.578749 # Commanded vehicle depth:978.831802 # Seafloor depth:-1031.410551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.31; 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 = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.977905 meters # Minimum depth: 1027.764389 meters looking forward 100.000000 meters along route # Maximum depth: 1034.054567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.764389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756806; longitude = -121.808869; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 977.764389; finalDepth = 978.831802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.290178 # Actual altitude: 56.290178 # Commanded vehicle depth:977.764389 # Seafloor depth:-1034.054567 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 48.169329 meters # Minimum depth: 1030.203353 meters looking forward 100.000000 meters along route # Maximum depth: 1032.366521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.203353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756454; longitude = -121.810159; captureRadius = 10; duration = 48; # abortOnTimeout = True; initialDepth = 980.203353; finalDepth = 977.764389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.290178 # Actual altitude: 56.290178 # Commanded vehicle depth:980.203353 # Seafloor depth:-1032.161774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.620945 meters # Minimum depth: 1028.216688 meters looking forward 100.000000 meters along route # Maximum depth: 1033.046045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.216688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756236; longitude = -121.809698; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 978.216688; finalDepth = 980.203353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8293570000001 # Actual altitude: 54.8293570000001 # Commanded vehicle depth:978.216688 # Seafloor depth:-1033.046045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.580371 meters # Minimum depth: 1026.961497 meters looking forward 100.000000 meters along route # Maximum depth: 1030.805031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.961497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755712; longitude = -121.808593; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 976.961497; finalDepth = 978.216688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8293570000001 # Actual altitude: 54.8293570000001 # Commanded vehicle depth:976.961497 # Seafloor depth:-1026.961497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.757714 meters # Minimum depth: 1026.391239 meters looking forward 100.000000 meters along route # Maximum depth: 1027.129137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.391239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.807631; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 976.391239; finalDepth = 976.961497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7378979999999 # Actual altitude: 50.7378979999999 # Commanded vehicle depth:976.391239 # Seafloor depth:-1027.129137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.95; 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 = 202.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.622580 meters # Minimum depth: 1024.158864 meters looking forward 100.000000 meters along route # Maximum depth: 1026.716379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.158864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754796; longitude = -121.806658; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 974.158864; finalDepth = 976.391239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.557515 # Actual altitude: 52.557515 # Commanded vehicle depth:974.158864 # Seafloor depth:-1026.716379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.23; 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 = 210.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.623176 meters # Minimum depth: 1022.056518 meters looking forward 100.000000 meters along route # Maximum depth: 1025.126952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.056518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754272; longitude = -121.805552; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 972.056518; finalDepth = 974.158864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0704340000001 # Actual altitude: 53.0704340000001 # Commanded vehicle depth:972.056518 # Seafloor depth:-1025.126952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.623770 meters # Minimum depth: 1021.064370 meters looking forward 100.000000 meters along route # Maximum depth: 1023.206601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.064370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753748; longitude = -121.804447; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 971.064370; finalDepth = 972.056518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0704340000001 # Actual altitude: 53.0704340000001 # Commanded vehicle depth:971.06437 # Seafloor depth:-1023.074272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.582829 meters # Minimum depth: 1019.695367 meters looking forward 100.000000 meters along route # Maximum depth: 1021.464779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.695367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753224; longitude = -121.803341; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 969.695367; finalDepth = 971.064370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0099019999999 # Actual altitude: 52.0099019999999 # Commanded vehicle depth:969.695367 # Seafloor depth:-1020.143766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.04; 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 = 208.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.760200 meters # Minimum depth: 1018.728797 meters looking forward 100.000000 meters along route # Maximum depth: 1021.203555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.728797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.802379; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 968.728797; finalDepth = 969.695367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851098 # Actual altitude: 51.851098 # Commanded vehicle depth:968.728797 # Seafloor depth:-1020.579895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; 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 = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.625406 meters # Minimum depth: 1016.877496 meters looking forward 100.000000 meters along route # Maximum depth: 1019.963449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.877496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752308; longitude = -121.801406; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 966.877496; finalDepth = 968.728797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.085953 # Actual altitude: 53.085953 # Commanded vehicle depth:966.877496 # Seafloor depth:-1019.963449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.626001 meters # Minimum depth: 1016.110517 meters looking forward 100.000000 meters along route # Maximum depth: 1018.613775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.110517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751784; longitude = -121.800301; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 966.110517; finalDepth = 966.877496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.085953 # Actual altitude: 53.085953 # Commanded vehicle depth:966.110517 # Seafloor depth:-1018.613775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.626596 meters # Minimum depth: 1015.409401 meters looking forward 100.000000 meters along route # Maximum depth: 1017.444275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.409401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751261; longitude = -121.799195; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 965.409401; finalDepth = 966.110517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5032580000001 # Actual altitude: 52.5032580000001 # Commanded vehicle depth:965.409401 # Seafloor depth:-1015.409401 # 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 4 # Segment length 115.627190 meters # Minimum depth: 1015.020000 meters looking forward 100.000000 meters along route # Maximum depth: 1017.380232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.020000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750737; longitude = -121.798089; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 965.020000; finalDepth = 965.409401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.360232 # Actual altitude: 52.360232 # Commanded vehicle depth:965.02 # Seafloor depth:-1017.380232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.44; 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 = 209.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.627786 meters # Minimum depth: 1013.898877 meters looking forward 100.000000 meters along route # Maximum depth: 1017.303000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.898877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750213; longitude = -121.796984; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 963.898877; finalDepth = 965.020000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.360232 # Actual altitude: 52.360232 # Commanded vehicle depth:963.898877 # Seafloor depth:-1013.933515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.44; 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 = 209.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.628381 meters # Minimum depth: 1009.549626 meters looking forward 100.000000 meters along route # Maximum depth: 1013.867091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.549626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749689; longitude = -121.795878; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 959.549626; finalDepth = 963.898877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.317465 # Actual altitude: 54.317465 # Commanded vehicle depth:959.549626 # Seafloor depth:-1013.867091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.27; 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 = 217.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.858380 meters # Minimum depth: 1009.613820 meters looking forward 100.000000 meters along route # Maximum depth: 1012.324269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.613820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749166; longitude = -121.794773; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 959.613820; finalDepth = 959.549626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.317465 # Actual altitude: 54.317465 # Commanded vehicle depth:959.61382 # Seafloor depth:-1009.613820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.27; 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 = 217.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 122.053476 meters # Minimum depth: 1008.458477 meters looking forward 100.000000 meters along route # Maximum depth: 1011.119708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.458477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.793627; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 958.458477; finalDepth = 959.613820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6612309999999 # Actual altitude: 52.6612309999999 # Commanded vehicle depth:958.458477 # Seafloor depth:-1011.119708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.64; 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 = 210.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.976856 meters # Minimum depth: 1005.972080 meters looking forward 100.000000 meters along route # Maximum depth: 1008.774545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.972080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.792459; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 955.972080; finalDepth = 958.458477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6612309999999 # Actual altitude: 52.6612309999999 # Commanded vehicle depth:955.97208 # Seafloor depth:-1007.612903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.64; 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 = 210.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.630761 meters # Minimum depth: 1006.106875 meters looking forward 100.000000 meters along route # Maximum depth: 1007.817174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.106875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747595; longitude = -121.791456; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 956.106875; finalDepth = 955.972080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.640823 # Actual altitude: 51.640823 # Commanded vehicle depth:956.106875 # Seafloor depth:-1006.426090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.56; 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 = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.631356 meters # Minimum depth: 1001.069086 meters looking forward 100.000000 meters along route # Maximum depth: 1006.024971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.069086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747071; longitude = -121.790350; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 951.069086; finalDepth = 956.106875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9558850000001 # Actual altitude: 54.9558850000001 # Commanded vehicle depth:951.069086 # Seafloor depth:-1006.024971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.631951 meters # Minimum depth: 999.385220 meters looking forward 100.000000 meters along route # Maximum depth: 1003.193931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.385220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746547; longitude = -121.789244; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 949.385220; finalDepth = 951.069086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9558850000001 # Actual altitude: 54.9558850000001 # Commanded vehicle depth:949.38522 # Seafloor depth:-1002.401071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.632546 meters # Minimum depth: 995.776540 meters looking forward 100.000000 meters along route # Maximum depth: 1000.515516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.776540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746023; longitude = -121.788139; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 945.776540; finalDepth = 949.385220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7389760000001 # Actual altitude: 54.7389760000001 # Commanded vehicle depth:945.77654 # Seafloor depth:-1000.515516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 115.633141 meters # Minimum depth: 997.652160 meters looking forward 100.000000 meters along route # Maximum depth: 998.091802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.652160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745500; longitude = -121.787033; captureRadius = 10; duration = 115; # abortOnTimeout = True; initialDepth = 947.652160; finalDepth = 945.776540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7389760000001 # Actual altitude: 54.7389760000001 # Commanded vehicle depth:947.65216 # Seafloor depth:-997.652160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.227146 meters # Minimum depth: 998.220509 meters looking forward 100.000000 meters along route # Maximum depth: 1000.619361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.220509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744976; longitude = -121.785928; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 948.220509; finalDepth = 947.652160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.220509 # Seafloor depth:-998.220509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 4 # Segment length 101.736297 meters # Minimum depth: 996.598322 meters looking forward 100.000000 meters along route # Maximum depth: 1001.627753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.598322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.784874; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 946.598322; finalDepth = 948.220509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.780042 # Actual altitude: 54.780042 # Commanded vehicle depth:946.598322 # Seafloor depth:-1001.378364 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.12; 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 = 219.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 21.709590 meters # Minimum depth: 996.598322 meters looking forward 100.000000 meters along route # Maximum depth: 1000.832870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.598322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744016; longitude = -121.783901; captureRadius = 10; duration = 21; # abortOnTimeout = True; initialDepth = 946.598322; finalDepth = 946.598322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.780042 # Actual altitude: 54.780042 # Commanded vehicle depth:946.598322 # Seafloor depth:-1000.832870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.12; 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 = 219.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.992649 meters # Minimum depth: 996.918787 meters looking forward 100.000000 meters along route # Maximum depth: 999.674955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.918787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.784113; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 946.918787; finalDepth = 946.598322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2345479999999 # Actual altitude: 54.2345479999999 # Commanded vehicle depth:946.918787 # Seafloor depth:-999.674955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.94; 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 = 216.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.293239 meters # Minimum depth: 990.229296 meters looking forward 100.000000 meters along route # Maximum depth: 995.946365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.229296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743496; longitude = -121.785098; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 940.229296; finalDepth = 946.918787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9081100000001 # Actual altitude: 53.9081100000001 # Commanded vehicle depth:940.229296 # Seafloor depth:-994.137406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.293738 meters # Minimum depth: 995.912839 meters looking forward 100.000000 meters along route # Maximum depth: 997.930044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.912839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743015; longitude = -121.786204; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 945.912839; finalDepth = 940.229296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9081100000001 # Actual altitude: 53.9081100000001 # Commanded vehicle depth:945.912839 # Seafloor depth:-996.061052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.294234 meters # Minimum depth: 998.198920 meters looking forward 100.000000 meters along route # Maximum depth: 1001.906740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.198920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742535; longitude = -121.787310; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 948.198920; finalDepth = 945.912839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1482130000001 # Actual altitude: 50.1482130000001 # Commanded vehicle depth:948.19892 # Seafloor depth:-998.198920 # 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 3 # Segment length 113.294733 meters # Minimum depth: 997.025639 meters looking forward 100.000000 meters along route # Maximum depth: 999.237422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.025639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742055; longitude = -121.788415; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 947.025639; finalDepth = 948.198920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2117830000001 # Actual altitude: 52.2117830000001 # Commanded vehicle depth:947.025639 # Seafloor depth:-999.237422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.295230 meters # Minimum depth: 995.325012 meters looking forward 100.000000 meters along route # Maximum depth: 1000.484045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.325012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741575; longitude = -121.789521; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 945.325012; finalDepth = 947.025639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.159033 # Actual altitude: 55.159033 # Commanded vehicle depth:945.325012 # Seafloor depth:-1000.484045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.64; 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 = 220.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.900016 meters # Minimum depth: 1001.254893 meters looking forward 100.000000 meters along route # Maximum depth: 1004.547895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.254893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741094; longitude = -121.790627; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 951.254893; finalDepth = 945.325012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.159033 # Actual altitude: 55.159033 # Commanded vehicle depth:951.254893 # Seafloor depth:-1001.254893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.64; 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 = 220.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.691936 meters # Minimum depth: 1001.933641 meters looking forward 100.000000 meters along route # Maximum depth: 1003.642576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.933641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.791748; captureRadius = 10; duration = 111; # abortOnTimeout = True; initialDepth = 951.933641; finalDepth = 951.254893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.933641 # Seafloor depth:-1001.933641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 113.296723 meters # Minimum depth: 1001.624534 meters looking forward 100.000000 meters along route # Maximum depth: 1003.282265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.624534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740134; longitude = -121.792838; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 951.624534; finalDepth = 951.933641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.657731 # Actual altitude: 51.657731 # Commanded vehicle depth:951.624534 # Seafloor depth:-1003.282265 # 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 3 # Segment length 122.726923 meters # Minimum depth: 1001.633424 meters looking forward 100.000000 meters along route # Maximum depth: 1005.628217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.633424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739653; longitude = -121.793943; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 951.633424; finalDepth = 951.624534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.657731 # Actual altitude: 51.657731 # Commanded vehicle depth:951.633424 # Seafloor depth:-1001.633424 # behavior reson { duration = 6; SBP_Power = 0.0; 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 to get to end of line 2 # Segment length 78.770049 meters # Minimum depth: 1004.496674 meters looking forward 100.000000 meters along route # Maximum depth: 1007.107282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.496674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739133; longitude = -121.795141; captureRadius = 10; duration = 78; # abortOnTimeout = True; initialDepth = 954.496674; finalDepth = 951.633424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.496674 # Seafloor depth:-1004.496674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 2 # Segment length 118.136162 meters # Minimum depth: 1003.618405 meters looking forward 100.000000 meters along route # Maximum depth: 1007.125831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.618405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739511; longitude = -121.795878; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 953.618405; finalDepth = 954.496674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5074259999999 # Actual altitude: 53.5074259999999 # Commanded vehicle depth:953.618405 # Seafloor depth:-1007.125831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.03; 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 = 214.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 118.135534 meters # Minimum depth: 1004.702073 meters looking forward 100.000000 meters along route # Maximum depth: 1009.297634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.702073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740078; longitude = -121.796984; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 954.702073; finalDepth = 953.618405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5074259999999 # Actual altitude: 53.5074259999999 # Commanded vehicle depth:954.702073 # Seafloor depth:-1004.702073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.03; 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 = 214.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 118.134904 meters # Minimum depth: 1010.443015 meters looking forward 100.000000 meters along route # Maximum depth: 1013.269599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.443015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740646; longitude = -121.798089; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 960.443015; finalDepth = 954.702073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.443015 # Seafloor depth:-1010.443015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 2 # Segment length 118.134276 meters # Minimum depth: 1011.791045 meters looking forward 100.000000 meters along route # Maximum depth: 1015.965038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.791045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741213; longitude = -121.799195; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 961.791045; finalDepth = 960.443015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:961.791045 # Seafloor depth:-1011.791045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 2 # Segment length 118.133646 meters # Minimum depth: 1012.411136 meters looking forward 100.000000 meters along route # Maximum depth: 1016.916411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.411136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741780; longitude = -121.800301; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 962.411136; finalDepth = 961.791045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.100517 # Actual altitude: 53.100517 # Commanded vehicle depth:962.411136 # Seafloor depth:-1015.511653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.40; 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 = 212.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 118.133018 meters # Minimum depth: 1014.652221 meters looking forward 100.000000 meters along route # Maximum depth: 1018.926125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.652221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742347; longitude = -121.801406; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 964.652221; finalDepth = 962.411136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.100517 # Actual altitude: 53.100517 # Commanded vehicle depth:964.652221 # Seafloor depth:-1015.289114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.40; 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 = 212.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 118.132389 meters # Minimum depth: 1016.900153 meters looking forward 100.000000 meters along route # Maximum depth: 1017.911503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.900153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742914; longitude = -121.802512; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 966.900153; finalDepth = 964.652221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.636893 # Actual altitude: 50.636893 # Commanded vehicle depth:966.900153 # Seafloor depth:-1017.048669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.55; 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 = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 118.131760 meters # Minimum depth: 1018.985217 meters looking forward 100.000000 meters along route # Maximum depth: 1020.725137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.985217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743482; longitude = -121.803617; captureRadius = 10; duration = 118; # abortOnTimeout = True; initialDepth = 968.985217; finalDepth = 966.900153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.148516 # Actual altitude: 50.148516 # Commanded vehicle depth:968.985217 # Seafloor depth:-1019.082312 # 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 = 150.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.330168 meters # Minimum depth: 1019.993540 meters looking forward 100.000000 meters along route # Maximum depth: 1023.772044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.993540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744049; longitude = -121.804723; captureRadius = 10; duration = 108; # abortOnTimeout = True; initialDepth = 969.993540; finalDepth = 968.985217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.661221 # Actual altitude: 51.661221 # Commanded vehicle depth:969.99354 # Seafloor depth:-1021.654761 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.64; 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 = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 30.003651 meters # Minimum depth: 1019.993540 meters looking forward 100.000000 meters along route # Maximum depth: 1021.699005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.993540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744569; longitude = -121.805737; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 969.993540; finalDepth = 969.993540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.705465 # Actual altitude: 51.705465 # Commanded vehicle depth:969.99354 # Seafloor depth:-1021.699005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.82; 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 = 206.82; 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 1 # Segment length 105.303491 meters # Minimum depth: 1020.889214 meters looking forward 100.000000 meters along route # Maximum depth: 1022.691637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.889214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744794; longitude = -121.805552; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 970.889214; finalDepth = 969.993540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.705465 # Actual altitude: 51.705465 # Commanded vehicle depth:970.889214 # Seafloor depth:-1021.933208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.82; 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 = 206.82; 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 1 # Segment length 119.229613 meters # Minimum depth: 1016.761557 meters looking forward 100.000000 meters along route # Maximum depth: 1020.510423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.761557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.804904; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 966.761557; finalDepth = 970.889214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7488659999999 # Actual altitude: 53.7488659999999 # Commanded vehicle depth:966.761557 # Seafloor depth:-1020.510423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.00; 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 = 215.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.202292 meters # Minimum depth: 1017.512914 meters looking forward 100.000000 meters along route # Maximum depth: 1021.094896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.512914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746475; longitude = -121.804170; captureRadius = 10; duration = 102; # abortOnTimeout = True; initialDepth = 967.512914; finalDepth = 966.761557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7488659999999 # Actual altitude: 53.7488659999999 # Commanded vehicle depth:967.512914 # Seafloor depth:-1019.796894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.00; 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 = 215.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.715462 meters # Minimum depth: 1020.854499 meters looking forward 100.000000 meters along route # Maximum depth: 1022.071491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.854499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.803541; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 970.854499; finalDepth = 967.512914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2839799999999 # Actual altitude: 52.2839799999999 # Commanded vehicle depth:970.854499 # Seafloor depth:-1021.323787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.14; 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 = 209.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.715134 meters # Minimum depth: 1017.795374 meters looking forward 100.000000 meters along route # Maximum depth: 1019.398833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.795374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.802860; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 967.795374; finalDepth = 970.854499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5802769999999 # Actual altitude: 51.5802769999999 # Commanded vehicle depth:967.795374 # Seafloor depth:-1019.375651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.32; 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 = 206.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.714807 meters # Minimum depth: 1017.516974 meters looking forward 100.000000 meters along route # Maximum depth: 1019.624116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.516974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.802178; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 967.516974; finalDepth = 967.795374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5802769999999 # Actual altitude: 51.5802769999999 # Commanded vehicle depth:967.516974 # Seafloor depth:-1017.516974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.32; 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 = 206.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.714479 meters # Minimum depth: 1016.344188 meters looking forward 100.000000 meters along route # Maximum depth: 1017.545544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.344188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.801497; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 966.344188; finalDepth = 967.516974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.750358 # Actual altitude: 50.750358 # Commanded vehicle depth:966.344188 # Seafloor depth:-1017.094546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; 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 = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.714153 meters # Minimum depth: 1016.614398 meters looking forward 100.000000 meters along route # Maximum depth: 1018.223282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.614398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.800815; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 966.614398; finalDepth = 966.344188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.750358 # Actual altitude: 50.750358 # Commanded vehicle depth:966.614398 # Seafloor depth:-1016.614398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; 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 = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.713825 meters # Minimum depth: 1016.094910 meters looking forward 100.000000 meters along route # Maximum depth: 1018.038342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.094910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.800134; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 966.094910; finalDepth = 966.614398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.09491 # Seafloor depth:-1016.094910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 1 # Segment length 110.713498 meters # Minimum depth: 1016.237094 meters looking forward 100.000000 meters along route # Maximum depth: 1018.277468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.237094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.799452; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 966.237094; finalDepth = 966.094910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4158570000001 # Actual altitude: 51.4158570000001 # Commanded vehicle depth:966.237094 # Seafloor depth:-1017.652951 # 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 1 # Segment length 110.726019 meters # Minimum depth: 1017.257883 meters looking forward 100.000000 meters along route # Maximum depth: 1018.221617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.257883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.798771; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 967.257883; finalDepth = 966.237094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4158570000001 # Actual altitude: 51.4158570000001 # Commanded vehicle depth:967.257883 # Seafloor depth:-1018.221617 # 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 1 # Segment length 110.699994 meters # Minimum depth: 1017.724462 meters looking forward 100.000000 meters along route # Maximum depth: 1019.193230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.724462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753875; longitude = -121.798089; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 967.724462; finalDepth = 967.257883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.963734 # Actual altitude: 50.963734 # Commanded vehicle depth:967.724462 # Seafloor depth:-1017.724462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.85; 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 = 203.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 113.825841 meters # Minimum depth: 1016.324462 meters looking forward 100.000000 meters along route # Maximum depth: 1018.666245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.324462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.797408; captureRadius = 10; duration = 113; # abortOnTimeout = True; initialDepth = 966.324462; finalDepth = 967.724462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.341783 # Actual altitude: 52.341783 # Commanded vehicle depth:966.324462 # Seafloor depth:-1018.666245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.37; 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 = 209.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.598864 meters # Minimum depth: 1016.105743 meters looking forward 100.000000 meters along route # Maximum depth: 1016.863919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.105743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755556; longitude = -121.796707; captureRadius = 10; duration = 107; # abortOnTimeout = True; initialDepth = 966.105743; finalDepth = 966.324462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.341783 # Actual altitude: 52.341783 # Commanded vehicle depth:966.105743 # Seafloor depth:-1016.303340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.37; 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 = 209.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 116.925626 meters # Minimum depth: 1015.870814 meters looking forward 100.000000 meters along route # Maximum depth: 1022.266491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.870814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.796045; captureRadius = 10; duration = 116; # abortOnTimeout = True; initialDepth = 965.870814; finalDepth = 966.105743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1975970000001 # Actual altitude: 50.1975970000001 # Commanded vehicle depth:965.870814 # Seafloor depth:-1015.870814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.79; 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 = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.497769 meters # Minimum depth: 1019.820274 meters looking forward 100.000000 meters along route # Maximum depth: 1022.028448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.820274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757238; longitude = -121.795325; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 969.820274; finalDepth = 965.870814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.208174 # Actual altitude: 52.208174 # Commanded vehicle depth:969.820274 # Seafloor depth:-1022.028448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.025374 meters # Minimum depth: 1020.459594 meters looking forward 100.000000 meters along route # Maximum depth: 1022.810339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.459594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.794682; captureRadius = 10; duration = 120; # abortOnTimeout = True; initialDepth = 970.459594; finalDepth = 969.820274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.208174 # Actual altitude: 52.208174 # Commanded vehicle depth:970.459594 # Seafloor depth:-1020.459594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.396713 meters # Minimum depth: 1015.642289 meters looking forward 100.000000 meters along route # Maximum depth: 1019.071484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.642289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758920; longitude = -121.793943; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 965.642289; finalDepth = 970.459594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.429195 # Actual altitude: 53.429195 # Commanded vehicle depth:965.642289 # Seafloor depth:-1019.071484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; 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 = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.710552 meters # Minimum depth: 1015.660616 meters looking forward 100.000000 meters along route # Maximum depth: 1016.915513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.660616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.793319; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 965.660616; finalDepth = 965.642289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.429195 # Actual altitude: 53.429195 # Commanded vehicle depth:965.660616 # Seafloor depth:-1015.660616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; 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 = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.710225 meters # Minimum depth: 1016.244683 meters looking forward 100.000000 meters along route # Maximum depth: 1018.524576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.244683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.792638; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 966.244683; finalDepth = 965.660616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.987809 # Actual altitude: 51.987809 # Commanded vehicle depth:966.244683 # Seafloor depth:-1018.232492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.95; 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 = 207.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 126.224760 meters # Minimum depth: 1016.363581 meters looking forward 100.000000 meters along route # Maximum depth: 1018.872272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.363581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.791956; captureRadius = 10; duration = 126; # abortOnTimeout = True; initialDepth = 966.363581; finalDepth = 966.244683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.987809 # Actual altitude: 51.987809 # Commanded vehicle depth:966.363581 # Seafloor depth:-1016.363581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.95; 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 = 207.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.784233 meters # Minimum depth: 1015.508804 meters looking forward 100.000000 meters along route # Maximum depth: 1018.856391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.508804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762283; longitude = -121.791179; captureRadius = 10; duration = 119; # abortOnTimeout = True; initialDepth = 965.508804; finalDepth = 966.363581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.347587 # Actual altitude: 53.347587 # Commanded vehicle depth:965.508804 # Seafloor depth:-1018.856391 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.39; 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 = 213.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.04; 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: 53.347587 # Actual altitude: 53.347587 # Commanded vehicle depth:965.508804 # Seafloor depth:-1016.655914 # 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 = 213.39; 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 = 213.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.04; 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: 1015.508804 meters looking forward 100.000000 meters along route # Maximum depth: 1017.945919 meters looking forward 100.000000 meters along route # Vehicle depth: 965.508804 meters behavior waypoint { latitude = 35.763180; longitude = -121.790442; captureRadius = 10; duration = 500; depth = 965.508804; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 965.508804 meters set by local depth and desired altitude behavior descend { duration = 2922; 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: 1015.508804 meters looking forward 100.000000 meters along route # Maximum depth: 1017.945919 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.763180; longitude = -121.790442; captureRadius = 10; duration = 800; depth = 250.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 333.0; 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 = 333.0; 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; } # ####################################################### #######################################################