# 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: LuciaMAUV3v5.rte # Mission File: LuciaMAUV3v5.cfg # Distance: 38175.019893 (m) # Estimated Time: 29052 (s) 8.070 (hr) # Abort Time: 32076 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 2123 (s) # Way Points: 24 # Route Points: 359 # 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 -121.804907 35.745675 -1019.739944 0.000000 4 # 1 -121.814489 35.733328 -1025.687164 1620.716958 1 # 2 -121.816148 35.734158 -1028.239258 1796.755914 3 # 3 -121.791087 35.765576 -1019.313080 5953.805297 4 # 4 -121.791548 35.767603 -1021.303452 6182.483489 3 # 5 -121.817622 35.734895 -1032.304230 10509.407887 4 # 6 -121.819004 35.735724 -1031.502045 10664.579803 3 # 7 -121.792101 35.769261 -1022.572540 15109.453735 4 # 8 -121.792660 35.771107 -1028.370636 15320.367793 3 # 9 -121.822880 35.733423 -1035.616150 20314.392942 4 # 10 -121.824268 35.734163 -1037.806244 20464.381614 3 # 11 -121.794049 35.771847 -1028.696533 25458.342201 4 # 12 -121.795438 35.772587 -1031.399231 25608.357346 3 # 13 -121.825638 35.734895 -1038.196228 30602.106117 4 # 14 -121.827020 35.735724 -1038.346130 30757.277738 1 # 15 -121.817622 35.747609 -1034.737213 32325.830285 1 # 16 -121.820110 35.747333 -1036.292267 32552.885666 1 # 17 -121.825269 35.740791 -1041.201019 33415.587198 1 # 18 -121.827204 35.741344 -1041.907135 33601.016819 1 # 19 -121.821399 35.748807 -1040.472595 34581.260158 1 # 20 -121.815319 35.749360 -1033.822357 35134.455555 3 # 21 -121.805184 35.744292 -1021.631393 36209.621372 4 # 22 -121.800761 35.752032 -1017.784790 37156.776042 1 # 23 -121.810435 35.756731 -1031.687500 38175.019893 1 # # A total of 359 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 32076; } # # 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 = 2123; 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 23 # Segment length 106.624038 meters # Minimum depth: 1031.687500 meters looking forward 100.000000 meters along route # Maximum depth: 1032.847528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.687500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756731; longitude = -121.810435; captureRadius = 10; duration = 106; # abortOnTimeout = True; initialDepth = 981.687500; finalDepth = 981.687500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.6875 # Seafloor depth:-1031.687500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 116.370549 meters # Minimum depth: 1025.167524 meters looking forward 100.000000 meters along route # Maximum depth: 1030.968940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.167524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756239; longitude = -121.809422; captureRadius = 10; duration = 116; initialDepth = 975.167524; finalDepth = 981.687500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6706409999999 # Actual altitude: 54.6706409999999 # Commanded vehicle depth:975.167524 # Seafloor depth:-1029.838165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 116.371153 meters # Minimum depth: 1025.650296 meters looking forward 100.000000 meters along route # Maximum depth: 1030.495563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.650296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755702; longitude = -121.808316; captureRadius = 10; duration = 116; initialDepth = 975.650296; finalDepth = 975.167524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8452669999999 # Actual altitude: 54.8452669999999 # Commanded vehicle depth:975.650296 # Seafloor depth:-1030.495563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 116.371760 meters # Minimum depth: 1025.359608 meters looking forward 100.000000 meters along route # Maximum depth: 1027.048537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.359608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755165; longitude = -121.807211; captureRadius = 10; duration = 116; initialDepth = 975.359608; finalDepth = 975.650296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8452669999999 # Actual altitude: 54.8452669999999 # Commanded vehicle depth:975.359608 # Seafloor depth:-1025.946924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 103.347789 meters # Minimum depth: 1023.292283 meters looking forward 100.000000 meters along route # Maximum depth: 1025.652022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.292283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754628; longitude = -121.806105; captureRadius = 10; duration = 103; initialDepth = 973.292283; finalDepth = 975.359608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.359739 # Actual altitude: 52.359739 # Commanded vehicle depth:973.292283 # Seafloor depth:-1025.652022 # 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 23 # Segment length 100.304246 meters # Minimum depth: 1022.494875 meters looking forward 100.000000 meters along route # Maximum depth: 1023.311323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.494875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.805123; captureRadius = 10; duration = 100; initialDepth = 972.494875; finalDepth = 973.292283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.359739 # Actual altitude: 52.359739 # Commanded vehicle depth:972.494875 # Seafloor depth:-1023.310819 # 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 23 # Segment length 116.373424 meters # Minimum depth: 1020.288695 meters looking forward 100.000000 meters along route # Maximum depth: 1022.663622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.288695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753688; longitude = -121.804170; captureRadius = 10; duration = 116; initialDepth = 970.288695; finalDepth = 972.494875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3749270000001 # Actual altitude: 52.3749270000001 # Commanded vehicle depth:970.288695 # Seafloor depth:-1022.663622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 116.374030 meters # Minimum depth: 1019.670831 meters looking forward 100.000000 meters along route # Maximum depth: 1021.788731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.670831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753151; longitude = -121.803065; captureRadius = 10; duration = 116; initialDepth = 969.670831; finalDepth = 970.288695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3749270000001 # Actual altitude: 52.3749270000001 # Commanded vehicle depth:969.670831 # Seafloor depth:-1020.643427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 126.106862 meters # Minimum depth: 1019.415986 meters looking forward 100.000000 meters along route # Maximum depth: 1020.200001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.415986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752614; longitude = -121.801959; captureRadius = 10; duration = 126; initialDepth = 969.415986; finalDepth = 969.670831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.972596 # Actual altitude: 50.972596 # Commanded vehicle depth:969.415986 # Seafloor depth:-1019.465149 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 11.298282 meters # Minimum depth: 1017.784790 meters looking forward 100.000000 meters along route # Maximum depth: 1019.674064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.784790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752032; longitude = -121.800761; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 967.784790; finalDepth = 969.415986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.049163 # Actual altitude: 50.049163 # Commanded vehicle depth:967.78479 # Seafloor depth:-1017.784790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.471107 meters # Minimum depth: 1017.128779 meters looking forward 100.000000 meters along route # Maximum depth: 1019.099758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.128779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.800814; captureRadius = 10; duration = 101; initialDepth = 967.128779; finalDepth = 967.784790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9709789999999 # Actual altitude: 51.9709789999999 # Commanded vehicle depth:967.128779 # Seafloor depth:-1019.099758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.471272 meters # Minimum depth: 1016.619649 meters looking forward 100.000000 meters along route # Maximum depth: 1018.610506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.619649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.801288; captureRadius = 10; duration = 101; initialDepth = 966.619649; finalDepth = 967.128779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.990857 # Actual altitude: 51.990857 # Commanded vehicle depth:966.619649 # Seafloor depth:-1018.610506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.96; 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 = 207.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.507325 meters # Minimum depth: 1018.342673 meters looking forward 100.000000 meters along route # Maximum depth: 1019.863942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.342673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.801761; captureRadius = 10; duration = 101; initialDepth = 968.342673; finalDepth = 966.619649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.990857 # Actual altitude: 51.990857 # Commanded vehicle depth:968.342673 # Seafloor depth:-1018.354348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.96; 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 = 207.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.435713 meters # Minimum depth: 1018.881497 meters looking forward 100.000000 meters along route # Maximum depth: 1019.867478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.881497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.802235; captureRadius = 10; duration = 101; initialDepth = 968.881497; finalDepth = 968.342673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.985981 # Actual altitude: 50.985981 # Commanded vehicle depth:968.881497 # Seafloor depth:-1019.867478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.94; 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 = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.471767 meters # Minimum depth: 1018.249288 meters looking forward 100.000000 meters along route # Maximum depth: 1021.942571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.249288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.802709; captureRadius = 10; duration = 101; initialDepth = 968.249288; finalDepth = 968.881497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.140879 # Actual altitude: 51.140879 # Commanded vehicle depth:968.249288 # Seafloor depth:-1019.390167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.471931 meters # Minimum depth: 1020.673942 meters looking forward 100.000000 meters along route # Maximum depth: 1022.830026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.673942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.803183; captureRadius = 10; duration = 101; initialDepth = 970.673942; finalDepth = 968.249288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.156084 # Actual altitude: 52.156084 # Commanded vehicle depth:970.673942 # Seafloor depth:-1022.830026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.472097 meters # Minimum depth: 1016.450924 meters looking forward 100.000000 meters along route # Maximum depth: 1021.223704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.450924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.803657; captureRadius = 10; duration = 101; initialDepth = 966.450924; finalDepth = 970.673942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.77278 # Actual altitude: 54.77278 # Commanded vehicle depth:966.450924 # Seafloor depth:-1021.223704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.09; 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 = 219.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.472261 meters # Minimum depth: 1018.793506 meters looking forward 100.000000 meters along route # Maximum depth: 1020.192392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.793506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.804131; captureRadius = 10; duration = 101; initialDepth = 968.793506; finalDepth = 966.450924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.77278 # Actual altitude: 54.77278 # Commanded vehicle depth:968.793506 # Seafloor depth:-1020.192392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.09; 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 = 219.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 124.082915 meters # Minimum depth: 1020.037396 meters looking forward 100.000000 meters along route # Maximum depth: 1022.992963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.037396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.804605; captureRadius = 10; duration = 124; initialDepth = 970.037396; finalDepth = 968.793506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3988860000001 # Actual altitude: 51.3988860000001 # Commanded vehicle depth:970.037396 # Seafloor depth:-1020.898985 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 9.751720 meters # Minimum depth: 1020.037396 meters looking forward 100.000000 meters along route # Maximum depth: 1022.104670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.037396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744292; longitude = -121.805184; captureRadius = 10; duration = 9; # abortOnTimeout = True; initialDepth = 970.037396; finalDepth = 970.037396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5939970000001 # Actual altitude: 51.5939970000001 # Commanded vehicle depth:970.037396 # Seafloor depth:-1021.631393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.291057 meters # Minimum depth: 1020.037312 meters looking forward 100.000000 meters along route # Maximum depth: 1025.263498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.037312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744338; longitude = -121.805276; captureRadius = 10; duration = 117; initialDepth = 970.037312; finalDepth = 970.037396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5939970000001 # Actual altitude: 51.5939970000001 # Commanded vehicle depth:970.037312 # Seafloor depth:-1020.037312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.290438 meters # Minimum depth: 1022.873244 meters looking forward 100.000000 meters along route # Maximum depth: 1027.137138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.873244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744891; longitude = -121.806382; captureRadius = 10; duration = 117; initialDepth = 972.873244; finalDepth = 970.037312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.873244 # Seafloor depth:-1022.873244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.289821 meters # Minimum depth: 1022.922868 meters looking forward 100.000000 meters along route # Maximum depth: 1024.612757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.922868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745444; longitude = -121.807487; captureRadius = 10; duration = 117; initialDepth = 972.922868; finalDepth = 972.873244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.927688 # Actual altitude: 50.927688 # Commanded vehicle depth:972.922868 # Seafloor depth:-1023.850556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.289203 meters # Minimum depth: 1023.922942 meters looking forward 100.000000 meters along route # Maximum depth: 1026.464391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.922942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745997; longitude = -121.808593; captureRadius = 10; duration = 117; initialDepth = 973.922942; finalDepth = 972.922868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.927688 # Actual altitude: 50.927688 # Commanded vehicle depth:973.922942 # Seafloor depth:-1023.922942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.288585 meters # Minimum depth: 1024.924061 meters looking forward 100.000000 meters along route # Maximum depth: 1028.300238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.924061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746549; longitude = -121.809698; captureRadius = 10; duration = 117; initialDepth = 974.924061; finalDepth = 973.922942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.924061 # Seafloor depth:-1024.924061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.287968 meters # Minimum depth: 1025.143287 meters looking forward 100.000000 meters along route # Maximum depth: 1028.306541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.143287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747102; longitude = -121.810804; captureRadius = 10; duration = 117; initialDepth = 975.143287; finalDepth = 974.924061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.005539 # Actual altitude: 52.005539 # Commanded vehicle depth:975.143287 # Seafloor depth:-1027.148826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.287350 meters # Minimum depth: 1029.276254 meters looking forward 100.000000 meters along route # Maximum depth: 1031.700289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.276254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747655; longitude = -121.811910; captureRadius = 10; duration = 117; initialDepth = 979.276254; finalDepth = 975.143287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.005539 # Actual altitude: 52.005539 # Commanded vehicle depth:979.276254 # Seafloor depth:-1029.276254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 117.286732 meters # Minimum depth: 1028.418764 meters looking forward 100.000000 meters along route # Maximum depth: 1034.314542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.418764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748208; longitude = -121.813015; captureRadius = 10; duration = 117; initialDepth = 978.418764; finalDepth = 979.276254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.583003 # Actual altitude: 52.583003 # Commanded vehicle depth:978.418764 # Seafloor depth:-1031.001767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.33; 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 = 210.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 127.102943 meters # Minimum depth: 1030.926325 meters looking forward 100.000000 meters along route # Maximum depth: 1033.444973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.926325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748761; longitude = -121.814121; captureRadius = 10; duration = 127; initialDepth = 980.926325; finalDepth = 978.418764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.583003 # Actual altitude: 52.583003 # Commanded vehicle depth:980.926325 # Seafloor depth:-1030.926325 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.33; 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 = 210.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 41.877841 meters # Minimum depth: 1033.220847 meters looking forward 100.000000 meters along route # Maximum depth: 1034.693106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.220847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749360; longitude = -121.815319; captureRadius = 10; duration = 41; # abortOnTimeout = True; initialDepth = 983.220847; finalDepth = 980.926325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.60151 # Actual altitude: 50.60151 # Commanded vehicle depth:983.220847 # Seafloor depth:-1033.822357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.595431 meters # Minimum depth: 1034.453552 meters looking forward 100.000000 meters along route # Maximum depth: 1037.034045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.453552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749318; longitude = -121.815779; captureRadius = 10; duration = 100; initialDepth = 984.453552; finalDepth = 983.220847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.60151 # Actual altitude: 50.60151 # Commanded vehicle depth:984.453552 # Seafloor depth:-1034.453552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.595528 meters # Minimum depth: 1034.901686 meters looking forward 100.000000 meters along route # Maximum depth: 1037.490068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.901686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749218; longitude = -121.816885; captureRadius = 10; duration = 100; initialDepth = 984.901686; finalDepth = 984.453552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.440006 # Actual altitude: 50.440006 # Commanded vehicle depth:984.901686 # Seafloor depth:-1035.341692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.595627 meters # Minimum depth: 1034.527944 meters looking forward 100.000000 meters along route # Maximum depth: 1037.206199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.527944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749117; longitude = -121.817990; captureRadius = 10; duration = 100; initialDepth = 984.527944; finalDepth = 984.901686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.966719 # Actual altitude: 51.966719 # Commanded vehicle depth:984.527944 # Seafloor depth:-1036.494663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.595726 meters # Minimum depth: 1035.299985 meters looking forward 100.000000 meters along route # Maximum depth: 1039.891778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.299985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749016; longitude = -121.819096; captureRadius = 10; duration = 100; initialDepth = 985.299985; finalDepth = 984.527944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.966719 # Actual altitude: 51.966719 # Commanded vehicle depth:985.299985 # Seafloor depth:-1035.299985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.935244 meters # Minimum depth: 1039.626997 meters looking forward 100.000000 meters along route # Maximum depth: 1040.654624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.626997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748916; longitude = -121.820202; captureRadius = 10; duration = 108; initialDepth = 989.626997; finalDepth = 985.299985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9107389999999 # Actual altitude: 50.9107389999999 # Commanded vehicle depth:989.626997 # Seafloor depth:-1040.537736 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 96.799391 meters # Minimum depth: 1039.292876 meters looking forward 100.000000 meters along route # Maximum depth: 1040.973607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.292876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748807; longitude = -121.821399; captureRadius = 10; duration = 96; # abortOnTimeout = True; initialDepth = 989.292876; finalDepth = 989.626997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.179719 # Actual altitude: 51.179719 # Commanded vehicle depth:989.292876 # Seafloor depth:-1040.472595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.913594 meters # Minimum depth: 1038.292497 meters looking forward 100.000000 meters along route # Maximum depth: 1038.852832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.292497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.821972; captureRadius = 10; duration = 108; initialDepth = 988.292497; finalDepth = 989.292876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.179719 # Actual altitude: 51.179719 # Commanded vehicle depth:988.292497 # Seafloor depth:-1038.852832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.913892 meters # Minimum depth: 1035.278320 meters looking forward 100.000000 meters along route # Maximum depth: 1039.960943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.278320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.822617; captureRadius = 10; duration = 108; initialDepth = 985.278320; finalDepth = 988.292497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5603350000001 # Actual altitude: 50.5603350000001 # Commanded vehicle depth:985.27832 # Seafloor depth:-1035.278320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.914188 meters # Minimum depth: 1038.760716 meters looking forward 100.000000 meters along route # Maximum depth: 1040.839064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.760716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.823262; captureRadius = 10; duration = 108; initialDepth = 988.760716; finalDepth = 985.278320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3692020000001 # Actual altitude: 51.3692020000001 # Commanded vehicle depth:988.760716 # Seafloor depth:-1040.129918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.914485 meters # Minimum depth: 1042.017248 meters looking forward 100.000000 meters along route # Maximum depth: 1044.249303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.017248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.823907; captureRadius = 10; duration = 108; initialDepth = 992.017248; finalDepth = 988.760716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3692020000001 # Actual altitude: 51.3692020000001 # Commanded vehicle depth:992.017248 # Seafloor depth:-1042.017248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.914782 meters # Minimum depth: 1043.321274 meters looking forward 100.000000 meters along route # Maximum depth: 1049.121807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.321274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.824552; captureRadius = 10; duration = 108; initialDepth = 993.321274; finalDepth = 992.017248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.321274 # Seafloor depth:-1043.321274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.915079 meters # Minimum depth: 1045.988228 meters looking forward 100.000000 meters along route # Maximum depth: 1049.162461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.988228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.825197; captureRadius = 10; duration = 108; initialDepth = 995.988228; finalDepth = 993.321274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.170147 # Actual altitude: 53.170147 # Commanded vehicle depth:995.988228 # Seafloor depth:-1049.158375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 121.043698 meters # Minimum depth: 1041.023392 meters looking forward 100.000000 meters along route # Maximum depth: 1045.022117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.023392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.825842; captureRadius = 10; duration = 121; initialDepth = 991.023392; finalDepth = 995.988228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.170147 # Actual altitude: 53.170147 # Commanded vehicle depth:991.023392 # Seafloor depth:-1042.081431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 108.914230 meters # Minimum depth: 1042.266716 meters looking forward 100.000000 meters along route # Maximum depth: 1043.543547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.266716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742173; longitude = -121.826559; captureRadius = 10; duration = 108; initialDepth = 992.266716; finalDepth = 991.023392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.058039 # Actual altitude: 51.058039 # Commanded vehicle depth:992.266716 # Seafloor depth:-1042.266716 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 61.808101 meters # Minimum depth: 1041.907135 meters looking forward 100.000000 meters along route # Maximum depth: 1043.298669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.907135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741344; longitude = -121.827204; captureRadius = 10; duration = 61; # abortOnTimeout = True; initialDepth = 991.907135; finalDepth = 992.266716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.907135 # Seafloor depth:-1041.907135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 18 # Segment length 123.621520 meters # Minimum depth: 1040.762857 meters looking forward 100.000000 meters along route # Maximum depth: 1044.069985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.762857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.826559; captureRadius = 10; duration = 123; initialDepth = 990.762857; finalDepth = 991.907135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.478742 # Actual altitude: 52.478742 # Commanded vehicle depth:990.762857 # Seafloor depth:-1043.241599 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 85.100752 meters # Minimum depth: 1037.133414 meters looking forward 100.000000 meters along route # Maximum depth: 1041.691751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.133414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740791; longitude = -121.825269; captureRadius = 10; duration = 85; # abortOnTimeout = True; initialDepth = 987.133414; finalDepth = 990.762857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0676050000002 # Actual altitude: 54.0676050000002 # Commanded vehicle depth:987.133414 # Seafloor depth:-1041.201019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 115.169667 meters # Minimum depth: 1034.166012 meters looking forward 100.000000 meters along route # Maximum depth: 1040.210673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.166012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.824760; captureRadius = 10; duration = 115; initialDepth = 984.166012; finalDepth = 987.133414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0446610000001 # Actual altitude: 56.0446610000001 # Commanded vehicle depth:984.166012 # Seafloor depth:-1040.210673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 103.529918 meters # Minimum depth: 1034.552277 meters looking forward 100.000000 meters along route # Maximum depth: 1039.719914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.552277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742310; longitude = -121.824071; captureRadius = 10; duration = 103; initialDepth = 984.552277; finalDepth = 984.166012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0446610000001 # Actual altitude: 56.0446610000001 # Commanded vehicle depth:984.552277 # Seafloor depth:-1034.552277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 224.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.349336 meters # Minimum depth: 1039.941326 meters looking forward 100.000000 meters along route # Maximum depth: 1044.227361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.941326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.823452; captureRadius = 10; duration = 109; initialDepth = 989.941326; finalDepth = 984.552277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.941326 # Seafloor depth:-1039.941326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 17 # Segment length 110.668142 meters # Minimum depth: 1044.096448 meters looking forward 100.000000 meters along route # Maximum depth: 1046.388877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.096448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.822798; captureRadius = 10; duration = 110; initialDepth = 994.096448; finalDepth = 989.941326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.096448 # Seafloor depth:-1044.096448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 17 # Segment length 108.029618 meters # Minimum depth: 1035.154456 meters looking forward 100.000000 meters along route # Maximum depth: 1046.219533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.154456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744763; longitude = -121.822137; captureRadius = 10; duration = 108; initialDepth = 985.154456; finalDepth = 994.096448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.065077 # Actual altitude: 61.065077 # Commanded vehicle depth:985.154456 # Seafloor depth:-1046.219533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 244.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 123.074034 meters # Minimum depth: 1034.790147 meters looking forward 100.000000 meters along route # Maximum depth: 1035.599106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.790147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.821491; captureRadius = 10; duration = 123; initialDepth = 984.790147; finalDepth = 985.154456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.065077 # Actual altitude: 61.065077 # Commanded vehicle depth:984.790147 # Seafloor depth:-1034.999796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 244.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.780065 meters # Minimum depth: 1035.470567 meters looking forward 100.000000 meters along route # Maximum depth: 1037.705541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.470567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746516; longitude = -121.820755; captureRadius = 10; duration = 107; initialDepth = 985.470567; finalDepth = 984.790147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6642919999999 # Actual altitude: 50.6642919999999 # Commanded vehicle depth:985.470567 # Seafloor depth:-1036.134859 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 16.853492 meters # Minimum depth: 1035.470567 meters looking forward 100.000000 meters along route # Maximum depth: 1037.705541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.470567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747333; longitude = -121.820110; captureRadius = 10; duration = 16; # abortOnTimeout = True; initialDepth = 985.470567; finalDepth = 985.470567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8217 # Actual altitude: 50.8217 # Commanded vehicle depth:985.470567 # Seafloor depth:-1036.292267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.898735 meters # Minimum depth: 1035.988293 meters looking forward 100.000000 meters along route # Maximum depth: 1037.180101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.988293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747353; longitude = -121.819925; captureRadius = 10; duration = 100; initialDepth = 985.988293; finalDepth = 985.470567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.137749 # Actual altitude: 51.137749 # Commanded vehicle depth:985.988293 # Seafloor depth:-1037.126042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.303154 meters # Minimum depth: 1034.567463 meters looking forward 100.000000 meters along route # Maximum depth: 1038.161565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.567463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747476; longitude = -121.818820; captureRadius = 10; duration = 109; initialDepth = 984.567463; finalDepth = 985.988293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.137749 # Actual altitude: 51.137749 # Commanded vehicle depth:984.567463 # Seafloor depth:-1034.880908 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 15.370513 meters # Minimum depth: 1034.567463 meters looking forward 100.000000 meters along route # Maximum depth: 1038.161565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.567463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747609; longitude = -121.817622; captureRadius = 10; duration = 15; # abortOnTimeout = True; initialDepth = 984.567463; finalDepth = 984.567463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.313445 # Actual altitude: 50.313445 # Commanded vehicle depth:984.567463 # Seafloor depth:-1034.737213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.178690 meters # Minimum depth: 1035.835326 meters looking forward 100.000000 meters along route # Maximum depth: 1036.565080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.835326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747493; longitude = -121.817714; captureRadius = 10; duration = 106; initialDepth = 985.835326; finalDepth = 984.567463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.16975 # Actual altitude: 50.16975 # Commanded vehicle depth:985.835326 # Seafloor depth:-1035.835326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.435559 meters # Minimum depth: 1036.163055 meters looking forward 100.000000 meters along route # Maximum depth: 1037.825696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.163055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.818350; captureRadius = 10; duration = 109; initialDepth = 986.163055; finalDepth = 985.835326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.163055 # Seafloor depth:-1036.163055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.435865 meters # Minimum depth: 1033.082039 meters looking forward 100.000000 meters along route # Maximum depth: 1035.135269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.082039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.819006; captureRadius = 10; duration = 109; initialDepth = 983.082039; finalDepth = 986.163055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0532300000002 # Actual altitude: 52.0532300000002 # Commanded vehicle depth:983.082039 # Seafloor depth:-1035.135269 # 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 15 # Segment length 109.436170 meters # Minimum depth: 1033.102533 meters looking forward 100.000000 meters along route # Maximum depth: 1040.466244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.102533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.819662; captureRadius = 10; duration = 109; initialDepth = 983.102533; finalDepth = 983.082039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0532300000002 # Actual altitude: 52.0532300000002 # Commanded vehicle depth:983.102533 # Seafloor depth:-1033.102533 # 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 15 # Segment length 109.436477 meters # Minimum depth: 1041.298165 meters looking forward 100.000000 meters along route # Maximum depth: 1045.000718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.298165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.820317; captureRadius = 10; duration = 109; initialDepth = 991.298165; finalDepth = 983.102533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7025530000001 # Actual altitude: 53.7025530000001 # Commanded vehicle depth:991.298165 # Seafloor depth:-1045.000718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.436782 meters # Minimum depth: 1037.511223 meters looking forward 100.000000 meters along route # Maximum depth: 1040.663397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.511223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.820973; captureRadius = 10; duration = 109; initialDepth = 987.511223; finalDepth = 991.298165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7025530000001 # Actual altitude: 53.7025530000001 # Commanded vehicle depth:987.511223 # Seafloor depth:-1040.663397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.437088 meters # Minimum depth: 1033.920808 meters looking forward 100.000000 meters along route # Maximum depth: 1036.802296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.920808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.821629; captureRadius = 10; duration = 109; initialDepth = 983.920808; finalDepth = 987.511223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1521740000001 # Actual altitude: 53.1521740000001 # Commanded vehicle depth:983.920808 # Seafloor depth:-1036.802296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 113.714888 meters # Minimum depth: 1034.215649 meters looking forward 100.000000 meters along route # Maximum depth: 1038.003298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.215649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.822284; captureRadius = 10; duration = 113; initialDepth = 984.215649; finalDepth = 983.920808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2394569999999 # Actual altitude: 53.2394569999999 # Commanded vehicle depth:984.215649 # Seafloor depth:-1037.455106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.160205 meters # Minimum depth: 1036.686929 meters looking forward 100.000000 meters along route # Maximum depth: 1038.351949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.686929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740851; longitude = -121.822966; captureRadius = 10; duration = 105; initialDepth = 986.686929; finalDepth = 984.215649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2394569999999 # Actual altitude: 53.2394569999999 # Commanded vehicle depth:986.686929 # Seafloor depth:-1038.351949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.438005 meters # Minimum depth: 1036.494942 meters looking forward 100.000000 meters along route # Maximum depth: 1037.932008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.494942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.823596; captureRadius = 10; duration = 109; initialDepth = 986.494942; finalDepth = 986.686929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6650200000001 # Actual altitude: 51.6650200000001 # Commanded vehicle depth:986.494942 # Seafloor depth:-1037.932008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.438311 meters # Minimum depth: 1036.901213 meters looking forward 100.000000 meters along route # Maximum depth: 1038.765447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.901213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.824252; captureRadius = 10; duration = 109; initialDepth = 986.901213; finalDepth = 986.494942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.437066 # Actual altitude: 51.437066 # Commanded vehicle depth:986.901213 # Seafloor depth:-1038.180413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.75; 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 = 205.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.438616 meters # Minimum depth: 1035.875279 meters looking forward 100.000000 meters along route # Maximum depth: 1038.617636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.875279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.824907; captureRadius = 10; duration = 109; initialDepth = 985.875279; finalDepth = 986.901213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2791999999999 # Actual altitude: 51.2791999999999 # Commanded vehicle depth:985.875279 # Seafloor depth:-1036.943591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 120.121191 meters # Minimum depth: 1034.631251 meters looking forward 100.000000 meters along route # Maximum depth: 1039.217585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.631251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.825563; captureRadius = 10; duration = 120; initialDepth = 984.631251; finalDepth = 985.875279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2498969999999 # Actual altitude: 53.2498969999999 # Commanded vehicle depth:984.631251 # Seafloor depth:-1037.881148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 123.074187 meters # Minimum depth: 1037.181877 meters looking forward 100.000000 meters along route # Maximum depth: 1039.873924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.181877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736657; longitude = -121.826283; captureRadius = 10; duration = 123; initialDepth = 987.181877; finalDepth = 984.631251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2498969999999 # Actual altitude: 53.2498969999999 # Commanded vehicle depth:987.181877 # Seafloor depth:-1039.873924 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 51.759262 meters # Minimum depth: 1038.346130 meters looking forward 100.000000 meters along route # Maximum depth: 1039.724788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.346130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735724; longitude = -121.827020; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 988.346130; finalDepth = 987.181877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.692047 # Actual altitude: 52.692047 # Commanded vehicle depth:988.34613 # Seafloor depth:-1038.346130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 103.412359 meters # Minimum depth: 1037.827831 meters looking forward 100.000000 meters along route # Maximum depth: 1040.080798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.827831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735447; longitude = -121.826559; captureRadius = 10; duration = 103; initialDepth = 987.827831; finalDepth = 988.346130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9872109999999 # Actual altitude: 50.9872109999999 # Commanded vehicle depth:987.827831 # Seafloor depth:-1038.815042 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.95; 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 = 203.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 30.526378 meters # Minimum depth: 1037.827831 meters looking forward 100.000000 meters along route # Maximum depth: 1040.080798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.827831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734895; longitude = -121.825638; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 987.827831; finalDepth = 987.827831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9872109999999 # Actual altitude: 50.9872109999999 # Commanded vehicle depth:987.827831 # Seafloor depth:-1038.196228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.95; 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 = 203.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.725739 meters # Minimum depth: 1035.614799 meters looking forward 100.000000 meters along route # Maximum depth: 1039.791095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.614799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735125; longitude = -121.825453; captureRadius = 10; duration = 103; initialDepth = 985.614799; finalDepth = 987.827831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9149950000001 # Actual altitude: 52.9149950000001 # Commanded vehicle depth:985.614799 # Seafloor depth:-1038.529794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.867391 meters # Minimum depth: 1036.427861 meters looking forward 100.000000 meters along route # Maximum depth: 1037.768441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.427861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.824826; captureRadius = 10; duration = 109; initialDepth = 986.427861; finalDepth = 985.614799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9149950000001 # Actual altitude: 52.9149950000001 # Commanded vehicle depth:986.427861 # Seafloor depth:-1036.427861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.867079 meters # Minimum depth: 1035.324750 meters looking forward 100.000000 meters along route # Maximum depth: 1038.114691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.324750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.824162; captureRadius = 10; duration = 109; initialDepth = 985.324750; finalDepth = 986.427861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3414720000001 # Actual altitude: 51.3414720000001 # Commanded vehicle depth:985.32475 # Seafloor depth:-1036.666222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.866766 meters # Minimum depth: 1036.720695 meters looking forward 100.000000 meters along route # Maximum depth: 1041.851578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.720695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.823497; captureRadius = 10; duration = 109; initialDepth = 986.720695; finalDepth = 985.324750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3414720000001 # Actual altitude: 51.3414720000001 # Commanded vehicle depth:986.720695 # Seafloor depth:-1036.720695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 115.164325 meters # Minimum depth: 1033.241174 meters looking forward 100.000000 meters along route # Maximum depth: 1041.277569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.241174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.822833; captureRadius = 10; duration = 115; initialDepth = 983.241174; finalDepth = 986.720695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0363950000001 # Actual altitude: 58.0363950000001 # Commanded vehicle depth:983.241174 # Seafloor depth:-1041.277569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.568267 meters # Minimum depth: 1032.491260 meters looking forward 100.000000 meters along route # Maximum depth: 1035.511274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.491260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739265; longitude = -121.822137; captureRadius = 10; duration = 104; initialDepth = 982.491260; finalDepth = 983.241174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0363950000001 # Actual altitude: 58.0363950000001 # Commanded vehicle depth:982.49126 # Seafloor depth:-1032.491260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.865826 meters # Minimum depth: 1035.901531 meters looking forward 100.000000 meters along route # Maximum depth: 1037.918046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.901531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.821504; captureRadius = 10; duration = 109; initialDepth = 985.901531; finalDepth = 982.491260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2002 # Actual altitude: 50.2002 # Commanded vehicle depth:985.901531 # Seafloor depth:-1036.101731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; 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 = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.865513 meters # Minimum depth: 1034.536328 meters looking forward 100.000000 meters along route # Maximum depth: 1036.269707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.536328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.820840; captureRadius = 10; duration = 109; initialDepth = 984.536328; finalDepth = 985.901531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2002 # Actual altitude: 50.2002 # Commanded vehicle depth:984.536328 # Seafloor depth:-1034.536328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.80; 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 = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.865201 meters # Minimum depth: 1035.264962 meters looking forward 100.000000 meters along route # Maximum depth: 1038.057390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.264962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.820175; captureRadius = 10; duration = 109; initialDepth = 985.264962; finalDepth = 984.536328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.211577 # Actual altitude: 50.211577 # Commanded vehicle depth:985.264962 # Seafloor depth:-1035.476539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.85; 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 = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 114.318691 meters # Minimum depth: 1037.910087 meters looking forward 100.000000 meters along route # Maximum depth: 1043.915715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.910087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.819511; captureRadius = 10; duration = 114; initialDepth = 987.910087; finalDepth = 985.264962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.211577 # Actual altitude: 50.211577 # Commanded vehicle depth:987.910087 # Seafloor depth:-1038.007102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.85; 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 = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.410770 meters # Minimum depth: 1036.444201 meters looking forward 100.000000 meters along route # Maximum depth: 1044.763568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.444201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743405; longitude = -121.818820; captureRadius = 10; duration = 105; initialDepth = 986.444201; finalDepth = 987.910087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5773019999999 # Actual altitude: 57.5773019999999 # Commanded vehicle depth:986.444201 # Seafloor depth:-1044.021503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 230.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.864261 meters # Minimum depth: 1032.683002 meters looking forward 100.000000 meters along route # Maximum depth: 1034.391120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.683002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.818182; captureRadius = 10; duration = 109; initialDepth = 982.683002; finalDepth = 986.444201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5773019999999 # Actual altitude: 57.5773019999999 # Commanded vehicle depth:982.683002 # Seafloor depth:-1034.391120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 230.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.863949 meters # Minimum depth: 1032.095921 meters looking forward 100.000000 meters along route # Maximum depth: 1034.038713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.095921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.817518; captureRadius = 10; duration = 109; initialDepth = 982.095921; finalDepth = 982.683002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.708118 # Actual altitude: 51.708118 # Commanded vehicle depth:982.095921 # Seafloor depth:-1032.414215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.863635 meters # Minimum depth: 1032.721523 meters looking forward 100.000000 meters along route # Maximum depth: 1033.793122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.721523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.816853; captureRadius = 10; duration = 109; initialDepth = 982.721523; finalDepth = 982.095921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0715990000001 # Actual altitude: 51.0715990000001 # Commanded vehicle depth:982.721523 # Seafloor depth:-1033.793122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 113.473080 meters # Minimum depth: 1033.125652 meters looking forward 100.000000 meters along route # Maximum depth: 1034.414473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.125652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.816189; captureRadius = 10; duration = 113; initialDepth = 983.125652; finalDepth = 982.721523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0715990000001 # Actual altitude: 51.0715990000001 # Commanded vehicle depth:983.125652 # Seafloor depth:-1033.459265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.253251 meters # Minimum depth: 1032.275837 meters looking forward 100.000000 meters along route # Maximum depth: 1032.995657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.275837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747544; longitude = -121.815503; captureRadius = 10; duration = 106; initialDepth = 982.275837; finalDepth = 983.125652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.71982 # Actual altitude: 50.71982 # Commanded vehicle depth:982.275837 # Seafloor depth:-1032.995657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.862696 meters # Minimum depth: 1031.781824 meters looking forward 100.000000 meters along route # Maximum depth: 1032.317476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.781824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.814860; captureRadius = 10; duration = 109; initialDepth = 981.781824; finalDepth = 982.275837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.71982 # Actual altitude: 50.71982 # Commanded vehicle depth:981.781824 # Seafloor depth:-1032.317476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.862383 meters # Minimum depth: 1030.397050 meters looking forward 100.000000 meters along route # Maximum depth: 1034.007442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.397050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.814196; captureRadius = 10; duration = 109; initialDepth = 980.397050; finalDepth = 981.781824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5075859999999 # Actual altitude: 53.5075859999999 # Commanded vehicle depth:980.39705 # Seafloor depth:-1033.904636 # 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 13 # Segment length 109.862070 meters # Minimum depth: 1030.819826 meters looking forward 100.000000 meters along route # Maximum depth: 1033.145625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.819826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.813532; captureRadius = 10; duration = 109; initialDepth = 980.819826; finalDepth = 980.397050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5075859999999 # Actual altitude: 53.5075859999999 # Commanded vehicle depth:980.819826 # Seafloor depth:-1030.819826 # 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 13 # Segment length 112.627495 meters # Minimum depth: 1030.797601 meters looking forward 100.000000 meters along route # Maximum depth: 1031.702766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.797601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.812867; captureRadius = 10; duration = 112; initialDepth = 980.797601; finalDepth = 980.819826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.541626 # Actual altitude: 50.541626 # Commanded vehicle depth:980.797601 # Seafloor depth:-1031.339227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.095707 meters # Minimum depth: 1031.203337 meters looking forward 100.000000 meters along route # Maximum depth: 1032.572185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.203337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751684; longitude = -121.812186; captureRadius = 10; duration = 107; initialDepth = 981.203337; finalDepth = 980.797601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.541626 # Actual altitude: 50.541626 # Commanded vehicle depth:981.203337 # Seafloor depth:-1031.373198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.861131 meters # Minimum depth: 1031.215157 meters looking forward 100.000000 meters along route # Maximum depth: 1033.089069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.215157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.811538; captureRadius = 10; duration = 109; initialDepth = 981.215157; finalDepth = 981.203337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1698610000001 # Actual altitude: 50.1698610000001 # Commanded vehicle depth:981.215157 # Seafloor depth:-1031.215157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.860818 meters # Minimum depth: 1030.372937 meters looking forward 100.000000 meters along route # Maximum depth: 1031.902593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.372937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.810874; captureRadius = 10; duration = 109; initialDepth = 980.372937; finalDepth = 981.215157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8981059999999 # Actual altitude: 50.8981059999999 # Commanded vehicle depth:980.372937 # Seafloor depth:-1031.271043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.860505 meters # Minimum depth: 1031.403223 meters looking forward 100.000000 meters along route # Maximum depth: 1033.525396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.403223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.810210; captureRadius = 10; duration = 109; initialDepth = 981.403223; finalDepth = 980.372937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8981059999999 # Actual altitude: 50.8981059999999 # Commanded vehicle depth:981.403223 # Seafloor depth:-1031.780759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.781932 meters # Minimum depth: 1027.661073 meters looking forward 100.000000 meters along route # Maximum depth: 1032.957378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.661073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.809545; captureRadius = 10; duration = 111; initialDepth = 977.661073; finalDepth = 981.403223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.354102 # Actual altitude: 53.354102 # Commanded vehicle depth:977.661073 # Seafloor depth:-1031.015175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.42; 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 = 213.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.938139 meters # Minimum depth: 1029.475707 meters looking forward 100.000000 meters along route # Maximum depth: 1032.119770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.475707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755824; longitude = -121.808869; captureRadius = 10; duration = 107; initialDepth = 979.475707; finalDepth = 977.661073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.354102 # Actual altitude: 53.354102 # Commanded vehicle depth:979.475707 # Seafloor depth:-1032.119770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.42; 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 = 213.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.859567 meters # Minimum depth: 1029.636974 meters looking forward 100.000000 meters along route # Maximum depth: 1032.388462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.636974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.808216; captureRadius = 10; duration = 109; initialDepth = 979.636974; finalDepth = 979.475707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.644063 # Actual altitude: 52.644063 # Commanded vehicle depth:979.636974 # Seafloor depth:-1030.419224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.58; 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 = 210.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.859253 meters # Minimum depth: 1032.084526 meters looking forward 100.000000 meters along route # Maximum depth: 1034.942904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.084526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.807552; captureRadius = 10; duration = 109; initialDepth = 982.084526; finalDepth = 979.636974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.78225 # Actual altitude: 50.78225 # Commanded vehicle depth:982.084526 # Seafloor depth:-1032.727110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.858940 meters # Minimum depth: 1030.673135 meters looking forward 100.000000 meters along route # Maximum depth: 1035.102122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.673135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.806888; captureRadius = 10; duration = 109; initialDepth = 980.673135; finalDepth = 982.084526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.428987 # Actual altitude: 54.428987 # Commanded vehicle depth:980.673135 # Seafloor depth:-1035.102122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.936394 meters # Minimum depth: 1030.055815 meters looking forward 100.000000 meters along route # Maximum depth: 1034.197589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.055815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.806223; captureRadius = 10; duration = 110; initialDepth = 980.055815; finalDepth = 980.673135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.428987 # Actual altitude: 54.428987 # Commanded vehicle depth:980.055815 # Seafloor depth:-1031.413269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.780548 meters # Minimum depth: 1029.614053 meters looking forward 100.000000 meters along route # Maximum depth: 1034.193657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.614053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759964; longitude = -121.805552; captureRadius = 10; duration = 108; initialDepth = 979.614053; finalDepth = 980.055815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.579604 # Actual altitude: 54.579604 # Commanded vehicle depth:979.614053 # Seafloor depth:-1034.193657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.858002 meters # Minimum depth: 1028.383889 meters looking forward 100.000000 meters along route # Maximum depth: 1030.506330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.383889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.804894; captureRadius = 10; duration = 109; initialDepth = 978.383889; finalDepth = 979.614053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.579604 # Actual altitude: 54.579604 # Commanded vehicle depth:978.383889 # Seafloor depth:-1030.267384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.857688 meters # Minimum depth: 1029.758819 meters looking forward 100.000000 meters along route # Maximum depth: 1033.237108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.758819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.804230; captureRadius = 10; duration = 109; initialDepth = 979.758819; finalDepth = 978.383889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.883495 # Actual altitude: 51.883495 # Commanded vehicle depth:979.758819 # Seafloor depth:-1029.953974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.857376 meters # Minimum depth: 1029.232037 meters looking forward 100.000000 meters along route # Maximum depth: 1030.576829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.232037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.803566; captureRadius = 10; duration = 109; initialDepth = 979.232037; finalDepth = 979.758819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3447920000001 # Actual altitude: 51.3447920000001 # Commanded vehicle depth:979.232037 # Seafloor depth:-1030.576829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.090880 meters # Minimum depth: 1025.820006 meters looking forward 100.000000 meters along route # Maximum depth: 1031.908558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.820006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.802901; captureRadius = 10; duration = 110; initialDepth = 975.820006; finalDepth = 979.232037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5511630000001 # Actual altitude: 53.5511630000001 # Commanded vehicle depth:975.820006 # Seafloor depth:-1029.371169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.622932 meters # Minimum depth: 1030.549688 meters looking forward 100.000000 meters along route # Maximum depth: 1034.032811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.549688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764103; longitude = -121.802235; captureRadius = 10; duration = 109; initialDepth = 980.549688; finalDepth = 975.820006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5511630000001 # Actual altitude: 53.5511630000001 # Commanded vehicle depth:980.549688 # Seafloor depth:-1030.549688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 118.893305 meters # Minimum depth: 1032.596142 meters looking forward 100.000000 meters along route # Maximum depth: 1035.910849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.596142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.801573; captureRadius = 10; duration = 118; initialDepth = 982.596142; finalDepth = 980.549688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8724279999999 # Actual altitude: 50.8724279999999 # Commanded vehicle depth:982.596142 # Seafloor depth:-1033.468570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.819256 meters # Minimum depth: 1031.077221 meters looking forward 100.000000 meters along route # Maximum depth: 1033.155342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.077221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765828; longitude = -121.800853; captureRadius = 10; duration = 100; initialDepth = 981.077221; finalDepth = 982.596142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2596779999999 # Actual altitude: 51.2596779999999 # Commanded vehicle depth:981.077221 # Seafloor depth:-1032.336899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.855811 meters # Minimum depth: 1030.982679 meters looking forward 100.000000 meters along route # Maximum depth: 1034.742172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.982679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.800244; captureRadius = 10; duration = 109; initialDepth = 980.982679; finalDepth = 981.077221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2596779999999 # Actual altitude: 51.2596779999999 # Commanded vehicle depth:980.982679 # Seafloor depth:-1031.753118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.855499 meters # Minimum depth: 1029.091372 meters looking forward 100.000000 meters along route # Maximum depth: 1034.264840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.091372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.799579; captureRadius = 10; duration = 109; initialDepth = 979.091372; finalDepth = 980.982679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.173468 # Actual altitude: 55.173468 # Commanded vehicle depth:979.091372 # Seafloor depth:-1034.264840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.855185 meters # Minimum depth: 1027.465898 meters looking forward 100.000000 meters along route # Maximum depth: 1029.900505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.465898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.798915; captureRadius = 10; duration = 109; initialDepth = 977.465898; finalDepth = 979.091372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.173468 # Actual altitude: 55.173468 # Commanded vehicle depth:977.465898 # Seafloor depth:-1029.409333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 118.047695 meters # Minimum depth: 1028.658718 meters looking forward 100.000000 meters along route # Maximum depth: 1030.406840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.658718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.798251; captureRadius = 10; duration = 118; initialDepth = 978.658718; finalDepth = 977.465898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9434350000001 # Actual altitude: 51.9434350000001 # Commanded vehicle depth:978.658718 # Seafloor depth:-1030.015512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.661737 meters # Minimum depth: 1028.968090 meters looking forward 100.000000 meters along route # Maximum depth: 1034.008211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.968090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769968; longitude = -121.797537; captureRadius = 10; duration = 101; initialDepth = 978.968090; finalDepth = 978.658718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.356794 # Actual altitude: 51.356794 # Commanded vehicle depth:978.96809 # Seafloor depth:-1028.968090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 126.849897 meters # Minimum depth: 1029.878482 meters looking forward 100.000000 meters along route # Maximum depth: 1035.290285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.878482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.796922; captureRadius = 10; duration = 126; initialDepth = 979.878482; finalDepth = 978.968090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7819279999999 # Actual altitude: 50.7819279999999 # Commanded vehicle depth:979.878482 # Seafloor depth:-1030.660410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 118.485808 meters # Minimum depth: 1032.023983 meters looking forward 100.000000 meters along route # Maximum depth: 1036.060690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.023983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771693; longitude = -121.796155; captureRadius = 10; duration = 118; initialDepth = 982.023983; finalDepth = 979.878482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.036707 # Actual altitude: 54.036707 # Commanded vehicle depth:982.023983 # Seafloor depth:-1036.060690 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 42.014927 meters # Minimum depth: 1030.986529 meters looking forward 100.000000 meters along route # Maximum depth: 1032.130544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.986529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772587; longitude = -121.795438; captureRadius = 10; duration = 42; # abortOnTimeout = True; initialDepth = 980.986529; finalDepth = 982.023983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.036707 # Actual altitude: 54.036707 # Commanded vehicle depth:980.986529 # Seafloor depth:-1031.399231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 108.000218 meters # Minimum depth: 1027.677518 meters looking forward 100.000000 meters along route # Maximum depth: 1031.317652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.677518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772380; longitude = -121.795049; captureRadius = 10; duration = 108; initialDepth = 977.677518; finalDepth = 980.986529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.640134 # Actual altitude: 53.640134 # Commanded vehicle depth:977.677518 # Seafloor depth:-1031.317652 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 37.455785 meters # Minimum depth: 1026.928487 meters looking forward 100.000000 meters along route # Maximum depth: 1028.924111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.928487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771847; longitude = -121.794049; captureRadius = 10; duration = 37; # abortOnTimeout = True; initialDepth = 976.928487; finalDepth = 977.677518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.640134 # Actual altitude: 53.640134 # Commanded vehicle depth:976.928487 # Seafloor depth:-1028.696533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.881943 meters # Minimum depth: 1026.404491 meters looking forward 100.000000 meters along route # Maximum depth: 1029.712726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.404491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.794276; captureRadius = 10; duration = 109; initialDepth = 976.404491; finalDepth = 976.928487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7680460000001 # Actual altitude: 51.7680460000001 # Commanded vehicle depth:976.404491 # Seafloor depth:-1026.404491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.882255 meters # Minimum depth: 1026.309859 meters looking forward 100.000000 meters along route # Maximum depth: 1031.956137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.309859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.794941; captureRadius = 10; duration = 109; initialDepth = 976.309859; finalDepth = 976.404491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.265952 # Actual altitude: 52.265952 # Commanded vehicle depth:976.309859 # Seafloor depth:-1028.575811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.06; 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 = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.882570 meters # Minimum depth: 1029.643641 meters looking forward 100.000000 meters along route # Maximum depth: 1030.536008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.643641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.795606; captureRadius = 10; duration = 109; initialDepth = 979.643641; finalDepth = 976.309859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.265952 # Actual altitude: 52.265952 # Commanded vehicle depth:979.643641 # Seafloor depth:-1029.831430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.06; 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 = 209.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.872219 meters # Minimum depth: 1026.238152 meters looking forward 100.000000 meters along route # Maximum depth: 1029.109498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.238152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.796271; captureRadius = 10; duration = 117; initialDepth = 976.238152; finalDepth = 979.643641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8713460000001 # Actual altitude: 52.8713460000001 # Commanded vehicle depth:976.238152 # Seafloor depth:-1029.109498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.893859 meters # Minimum depth: 1026.490323 meters looking forward 100.000000 meters along route # Maximum depth: 1027.678241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.490323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768187; longitude = -121.796984; captureRadius = 10; duration = 101; initialDepth = 976.490323; finalDepth = 976.238152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8713460000001 # Actual altitude: 52.8713460000001 # Commanded vehicle depth:976.490323 # Seafloor depth:-1027.418316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.883509 meters # Minimum depth: 1025.480770 meters looking forward 100.000000 meters along route # Maximum depth: 1027.115482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.480770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.797600; captureRadius = 10; duration = 109; initialDepth = 975.480770; finalDepth = 976.490323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.634712 # Actual altitude: 51.634712 # Commanded vehicle depth:975.48077 # Seafloor depth:-1027.115482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.883822 meters # Minimum depth: 1025.808187 meters looking forward 100.000000 meters along route # Maximum depth: 1036.994311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.808187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.798265; captureRadius = 10; duration = 109; initialDepth = 975.808187; finalDepth = 975.480770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.634712 # Actual altitude: 51.634712 # Commanded vehicle depth:975.808187 # Seafloor depth:-1025.808187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.884136 meters # Minimum depth: 1033.282958 meters looking forward 100.000000 meters along route # Maximum depth: 1036.994761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.282958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.798930; captureRadius = 10; duration = 109; initialDepth = 983.282958; finalDepth = 975.808187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7118029999999 # Actual altitude: 53.7118029999999 # Commanded vehicle depth:983.282958 # Seafloor depth:-1036.994761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.568477 meters # Minimum depth: 1030.185687 meters looking forward 100.000000 meters along route # Maximum depth: 1032.261104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.185687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.799595; captureRadius = 10; duration = 116; initialDepth = 980.185687; finalDepth = 983.282958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7118029999999 # Actual altitude: 53.7118029999999 # Commanded vehicle depth:980.185687 # Seafloor depth:-1032.261104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.200735 meters # Minimum depth: 1029.854309 meters looking forward 100.000000 meters along route # Maximum depth: 1030.659742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.854309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764051; longitude = -121.800301; captureRadius = 10; duration = 103; initialDepth = 979.854309; finalDepth = 980.185687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.075417 # Actual altitude: 52.075417 # Commanded vehicle depth:979.854309 # Seafloor depth:-1030.128699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.885076 meters # Minimum depth: 1026.499493 meters looking forward 100.000000 meters along route # Maximum depth: 1030.112938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.499493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.800925; captureRadius = 10; duration = 109; initialDepth = 976.499493; finalDepth = 979.854309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.613445 # Actual altitude: 53.613445 # Commanded vehicle depth:976.499493 # Seafloor depth:-1030.112938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.885389 meters # Minimum depth: 1025.706264 meters looking forward 100.000000 meters along route # Maximum depth: 1028.495300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.706264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.801590; captureRadius = 10; duration = 109; initialDepth = 975.706264; finalDepth = 976.499493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.613445 # Actual altitude: 53.613445 # Commanded vehicle depth:975.706264 # Seafloor depth:-1026.990511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.885703 meters # Minimum depth: 1026.447654 meters looking forward 100.000000 meters along route # Maximum depth: 1028.298712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.447654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.802255; captureRadius = 10; duration = 109; initialDepth = 976.447654; finalDepth = 975.706264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.851058 # Actual altitude: 51.851058 # Commanded vehicle depth:976.447654 # Seafloor depth:-1028.298712 # 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 11 # Segment length 115.264698 meters # Minimum depth: 1027.015100 meters looking forward 100.000000 meters along route # Maximum depth: 1029.152856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.015100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.802920; captureRadius = 10; duration = 115; initialDepth = 977.015100; finalDepth = 976.447654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1377559999999 # Actual altitude: 52.1377559999999 # Commanded vehicle depth:977.0151 # Seafloor depth:-1029.152856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.507648 meters # Minimum depth: 1026.914212 meters looking forward 100.000000 meters along route # Maximum depth: 1028.948813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.914212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759915; longitude = -121.803617; captureRadius = 10; duration = 104; initialDepth = 976.914212; finalDepth = 977.015100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1377559999999 # Actual altitude: 52.1377559999999 # Commanded vehicle depth:976.914212 # Seafloor depth:-1027.280032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.886643 meters # Minimum depth: 1026.181334 meters looking forward 100.000000 meters along route # Maximum depth: 1029.716613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.181334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.804250; captureRadius = 10; duration = 109; initialDepth = 976.181334; finalDepth = 976.914212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.36582 # Actual altitude: 50.36582 # Commanded vehicle depth:976.181334 # Seafloor depth:-1026.181334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.886956 meters # Minimum depth: 1029.243232 meters looking forward 100.000000 meters along route # Maximum depth: 1031.294503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.243232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.804915; captureRadius = 10; duration = 109; initialDepth = 979.243232; finalDepth = 976.181334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.13113 # Actual altitude: 50.13113 # Commanded vehicle depth:979.243232 # Seafloor depth:-1029.374362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.887270 meters # Minimum depth: 1029.090772 meters looking forward 100.000000 meters along route # Maximum depth: 1030.597178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.090772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.805580; captureRadius = 10; duration = 109; initialDepth = 979.090772; finalDepth = 979.243232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.506406 # Actual altitude: 51.506406 # Commanded vehicle depth:979.090772 # Seafloor depth:-1030.597178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 113.960881 meters # Minimum depth: 1023.654944 meters looking forward 100.000000 meters along route # Maximum depth: 1029.534145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.654944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.806245; captureRadius = 10; duration = 113; initialDepth = 973.654944; finalDepth = 979.090772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8792010000001 # Actual altitude: 55.8792010000001 # Commanded vehicle depth:973.654944 # Seafloor depth:-1029.534145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.814598 meters # Minimum depth: 1023.753782 meters looking forward 100.000000 meters along route # Maximum depth: 1027.387690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.753782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755779; longitude = -121.806934; captureRadius = 10; duration = 105; initialDepth = 973.753782; finalDepth = 973.654944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8792010000001 # Actual altitude: 55.8792010000001 # Commanded vehicle depth:973.753782 # Seafloor depth:-1023.753782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.888210 meters # Minimum depth: 1028.239957 meters looking forward 100.000000 meters along route # Maximum depth: 1029.733029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.239957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.807575; captureRadius = 10; duration = 109; initialDepth = 978.239957; finalDepth = 973.753782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.239957 # Seafloor depth:-1028.239957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.888524 meters # Minimum depth: 1030.353064 meters looking forward 100.000000 meters along route # Maximum depth: 1031.882667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.353064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.808240; captureRadius = 10; duration = 109; initialDepth = 980.353064; finalDepth = 978.239957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5508080000002 # Actual altitude: 50.5508080000002 # Commanded vehicle depth:980.353064 # Seafloor depth:-1030.903872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.888836 meters # Minimum depth: 1028.590998 meters looking forward 100.000000 meters along route # Maximum depth: 1030.486141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.590998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.808905; captureRadius = 10; duration = 109; initialDepth = 978.590998; finalDepth = 980.353064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8951430000002 # Actual altitude: 51.8951430000002 # Commanded vehicle depth:978.590998 # Seafloor depth:-1030.486141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 112.657028 meters # Minimum depth: 1027.097462 meters looking forward 100.000000 meters along route # Maximum depth: 1031.262791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.097462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.809569; captureRadius = 10; duration = 112; initialDepth = 977.097462; finalDepth = 978.590998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.18633 # Actual altitude: 52.18633 # Commanded vehicle depth:977.097462 # Seafloor depth:-1029.283792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.121586 meters # Minimum depth: 1029.015667 meters looking forward 100.000000 meters along route # Maximum depth: 1031.360315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.015667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751642; longitude = -121.810251; captureRadius = 10; duration = 107; initialDepth = 979.015667; finalDepth = 977.097462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.18633 # Actual altitude: 52.18633 # Commanded vehicle depth:979.015667 # Seafloor depth:-1029.015667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.889777 meters # Minimum depth: 1026.644004 meters looking forward 100.000000 meters along route # Maximum depth: 1031.283776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.644004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.810899; captureRadius = 10; duration = 109; initialDepth = 976.644004; finalDepth = 979.015667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.639772 # Actual altitude: 54.639772 # Commanded vehicle depth:976.644004 # Seafloor depth:-1031.283776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.890091 meters # Minimum depth: 1028.258395 meters looking forward 100.000000 meters along route # Maximum depth: 1031.667870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.258395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.811564; captureRadius = 10; duration = 109; initialDepth = 978.258395; finalDepth = 976.644004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.639772 # Actual altitude: 54.639772 # Commanded vehicle depth:978.258395 # Seafloor depth:-1031.667870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.890404 meters # Minimum depth: 1028.168874 meters looking forward 100.000000 meters along route # Maximum depth: 1030.597661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.168874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.812229; captureRadius = 10; duration = 109; initialDepth = 978.168874; finalDepth = 978.258395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4094749999999 # Actual altitude: 53.4094749999999 # Commanded vehicle depth:978.168874 # Seafloor depth:-1028.168874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.353136 meters # Minimum depth: 1030.308185 meters looking forward 100.000000 meters along route # Maximum depth: 1032.762380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.308185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.812894; captureRadius = 10; duration = 111; initialDepth = 980.308185; finalDepth = 978.168874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.250221 # Actual altitude: 52.250221 # Commanded vehicle depth:980.308185 # Seafloor depth:-1032.558406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.428612 meters # Minimum depth: 1030.999954 meters looking forward 100.000000 meters along route # Maximum depth: 1033.325580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.999954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747506; longitude = -121.813568; captureRadius = 10; duration = 108; initialDepth = 980.999954; finalDepth = 980.308185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.250221 # Actual altitude: 52.250221 # Commanded vehicle depth:980.999954 # Seafloor depth:-1031.492366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.891344 meters # Minimum depth: 1029.766843 meters looking forward 100.000000 meters along route # Maximum depth: 1030.684039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.766843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.814224; captureRadius = 10; duration = 109; initialDepth = 979.766843; finalDepth = 980.999954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9171959999999 # Actual altitude: 50.9171959999999 # Commanded vehicle depth:979.766843 # Seafloor depth:-1030.684039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.891658 meters # Minimum depth: 1030.213078 meters looking forward 100.000000 meters along route # Maximum depth: 1031.169479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.213078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.814889; captureRadius = 10; duration = 109; initialDepth = 980.213078; finalDepth = 979.766843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9171959999999 # Actual altitude: 50.9171959999999 # Commanded vehicle depth:980.213078 # Seafloor depth:-1031.005212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.891971 meters # Minimum depth: 1031.411638 meters looking forward 100.000000 meters along route # Maximum depth: 1034.629655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.411638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.815554; captureRadius = 10; duration = 109; initialDepth = 981.411638; finalDepth = 980.213078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.792134 # Actual altitude: 50.792134 # Commanded vehicle depth:981.411638 # Seafloor depth:-1031.411638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.049209 meters # Minimum depth: 1031.988302 meters looking forward 100.000000 meters along route # Maximum depth: 1033.992277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.988302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.816219; captureRadius = 10; duration = 110; initialDepth = 981.988302; finalDepth = 981.411638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1372819999999 # Actual altitude: 50.1372819999999 # Commanded vehicle depth:981.988302 # Seafloor depth:-1032.125584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.735674 meters # Minimum depth: 1034.028649 meters looking forward 100.000000 meters along route # Maximum depth: 1043.386402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.028649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743370; longitude = -121.816885; captureRadius = 10; duration = 109; initialDepth = 984.028649; finalDepth = 981.988302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1372819999999 # Actual altitude: 50.1372819999999 # Commanded vehicle depth:984.028649 # Seafloor depth:-1034.028649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 118.663626 meters # Minimum depth: 1038.357834 meters looking forward 100.000000 meters along route # Maximum depth: 1042.259914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.357834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.817549; captureRadius = 10; duration = 118; initialDepth = 988.357834; finalDepth = 984.028649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9020800000001 # Actual altitude: 53.9020800000001 # Commanded vehicle depth:988.357834 # Seafloor depth:-1042.259914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.61; 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 = 215.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.122511 meters # Minimum depth: 1032.768715 meters looking forward 100.000000 meters along route # Maximum depth: 1037.581778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.768715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741647; longitude = -121.818267; captureRadius = 10; duration = 101; initialDepth = 982.768715; finalDepth = 988.357834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8130630000001 # Actual altitude: 54.8130630000001 # Commanded vehicle depth:982.768715 # Seafloor depth:-1037.581778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.25; 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 = 219.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.893539 meters # Minimum depth: 1030.528301 meters looking forward 100.000000 meters along route # Maximum depth: 1032.297179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.528301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.818879; captureRadius = 10; duration = 109; initialDepth = 980.528301; finalDepth = 982.768715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8130630000001 # Actual altitude: 54.8130630000001 # Commanded vehicle depth:980.528301 # Seafloor depth:-1032.297179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.25; 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 = 219.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.893852 meters # Minimum depth: 1032.866138 meters looking forward 100.000000 meters along route # Maximum depth: 1035.022126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.866138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.819544; captureRadius = 10; duration = 109; initialDepth = 982.866138; finalDepth = 980.528301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.155988 # Actual altitude: 52.155988 # Commanded vehicle depth:982.866138 # Seafloor depth:-1035.022126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.894166 meters # Minimum depth: 1034.233937 meters looking forward 100.000000 meters along route # Maximum depth: 1035.614200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.233937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.820209; captureRadius = 10; duration = 109; initialDepth = 984.233937; finalDepth = 982.866138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.155988 # Actual altitude: 52.155988 # Commanded vehicle depth:984.233937 # Seafloor depth:-1034.233937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.359776 meters # Minimum depth: 1033.316709 meters looking forward 100.000000 meters along route # Maximum depth: 1039.363055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.316709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.820874; captureRadius = 10; duration = 117; initialDepth = 983.316709; finalDepth = 984.233937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3629860000001 # Actual altitude: 52.3629860000001 # Commanded vehicle depth:983.316709 # Seafloor depth:-1035.679695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.429496 meters # Minimum depth: 1036.347421 meters looking forward 100.000000 meters along route # Maximum depth: 1038.513415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.347421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737510; longitude = -121.821584; captureRadius = 10; duration = 102; initialDepth = 986.347421; finalDepth = 983.316709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3629860000001 # Actual altitude: 52.3629860000001 # Commanded vehicle depth:986.347421 # Seafloor depth:-1037.064993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.895106 meters # Minimum depth: 1037.233523 meters looking forward 100.000000 meters along route # Maximum depth: 1039.365546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.233523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.822204; captureRadius = 10; duration = 109; initialDepth = 987.233523; finalDepth = 986.347421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1320229999999 # Actual altitude: 52.1320229999999 # Commanded vehicle depth:987.233523 # Seafloor depth:-1039.365546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.895420 meters # Minimum depth: 1033.529702 meters looking forward 100.000000 meters along route # Maximum depth: 1038.529596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.529702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.822868; captureRadius = 10; duration = 109; initialDepth = 983.529702; finalDepth = 987.233523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.999894 # Actual altitude: 54.999894 # Commanded vehicle depth:983.529702 # Seafloor depth:-1038.529596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.402863 meters # Minimum depth: 1034.485896 meters looking forward 100.000000 meters along route # Maximum depth: 1036.996902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.485896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.823533; captureRadius = 10; duration = 121; initialDepth = 984.485896; finalDepth = 983.529702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.999894 # Actual altitude: 54.999894 # Commanded vehicle depth:984.485896 # Seafloor depth:-1035.102795 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 38.424900 meters # Minimum depth: 1034.485896 meters looking forward 100.000000 meters along route # Maximum depth: 1037.806244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.485896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734163; longitude = -121.824268; captureRadius = 10; duration = 38; # abortOnTimeout = True; initialDepth = 984.485896; finalDepth = 984.485896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3203480000002 # Actual altitude: 53.3203480000002 # Commanded vehicle depth:984.485896 # Seafloor depth:-1037.806244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.28; 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 = 213.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.563772 meters # Minimum depth: 1033.377402 meters looking forward 100.000000 meters along route # Maximum depth: 1037.055931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.377402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.823912; captureRadius = 10; duration = 111; initialDepth = 983.377402; finalDepth = 984.485896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3203480000002 # Actual altitude: 53.3203480000002 # Commanded vehicle depth:983.377402 # Seafloor depth:-1034.913914 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.28; 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 = 213.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 36.316302 meters # Minimum depth: 1035.170260 meters looking forward 100.000000 meters along route # Maximum depth: 1037.055931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.170260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733423; longitude = -121.822880; captureRadius = 10; duration = 36; # abortOnTimeout = True; initialDepth = 985.170260; finalDepth = 983.377402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5365119999999 # Actual altitude: 51.5365119999999 # Commanded vehicle depth:985.17026 # Seafloor depth:-1035.616150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.897083 meters # Minimum depth: 1032.695931 meters looking forward 100.000000 meters along route # Maximum depth: 1035.333804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.695931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.822660; captureRadius = 10; duration = 109; initialDepth = 982.695931; finalDepth = 985.170260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6378730000001 # Actual altitude: 52.6378730000001 # Commanded vehicle depth:982.695931 # Seafloor depth:-1035.333804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.55; 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 = 210.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.692801 meters # Minimum depth: 1035.134800 meters looking forward 100.000000 meters along route # Maximum depth: 1039.255062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.134800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.821995; captureRadius = 10; duration = 113; initialDepth = 985.134800; finalDepth = 982.695931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6378730000001 # Actual altitude: 52.6378730000001 # Commanded vehicle depth:985.1348 # Seafloor depth:-1035.134800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.55; 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 = 210.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.100424 meters # Minimum depth: 1033.553138 meters looking forward 100.000000 meters along route # Maximum depth: 1038.654841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.553138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735384; longitude = -121.821307; captureRadius = 10; duration = 106; initialDepth = 983.553138; finalDepth = 985.134800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.101703 # Actual altitude: 55.101703 # Commanded vehicle depth:983.553138 # Seafloor depth:-1038.654841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.896143 meters # Minimum depth: 1034.137695 meters looking forward 100.000000 meters along route # Maximum depth: 1035.249882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.137695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.820665; captureRadius = 10; duration = 109; initialDepth = 984.137695; finalDepth = 983.553138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.101703 # Actual altitude: 55.101703 # Commanded vehicle depth:984.137695 # Seafloor depth:-1035.249882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.895829 meters # Minimum depth: 1031.806832 meters looking forward 100.000000 meters along route # Maximum depth: 1034.036933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.806832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.820000; captureRadius = 10; duration = 109; initialDepth = 981.806832; finalDepth = 984.137695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1121870000002 # Actual altitude: 51.1121870000002 # Commanded vehicle depth:981.806832 # Seafloor depth:-1031.806832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.895515 meters # Minimum depth: 1031.319155 meters looking forward 100.000000 meters along route # Maximum depth: 1035.475685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.319155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.819335; captureRadius = 10; duration = 109; initialDepth = 981.319155; finalDepth = 981.806832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2271700000001 # Actual altitude: 51.2271700000001 # Commanded vehicle depth:981.319155 # Seafloor depth:-1032.546325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.367494 meters # Minimum depth: 1030.923284 meters looking forward 100.000000 meters along route # Maximum depth: 1036.553436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.923284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.818670; captureRadius = 10; duration = 112; initialDepth = 980.923284; finalDepth = 981.319155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.630152 # Actual altitude: 55.630152 # Commanded vehicle depth:980.923284 # Seafloor depth:-1036.553436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.422597 meters # Minimum depth: 1027.683342 meters looking forward 100.000000 meters along route # Maximum depth: 1031.354713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.683342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739520; longitude = -121.817990; captureRadius = 10; duration = 107; initialDepth = 977.683342; finalDepth = 980.923284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.630152 # Actual altitude: 55.630152 # Commanded vehicle depth:977.683342 # Seafloor depth:-1030.930495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.894575 meters # Minimum depth: 1030.930457 meters looking forward 100.000000 meters along route # Maximum depth: 1035.808037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.930457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.817340; captureRadius = 10; duration = 109; initialDepth = 980.930457; finalDepth = 977.683342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.247153 # Actual altitude: 53.247153 # Commanded vehicle depth:980.930457 # Seafloor depth:-1030.930457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.894262 meters # Minimum depth: 1038.519920 meters looking forward 100.000000 meters along route # Maximum depth: 1041.429778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.519920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.816676; captureRadius = 10; duration = 109; initialDepth = 988.519920; finalDepth = 980.930457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4136169999999 # Actual altitude: 51.4136169999999 # Commanded vehicle depth:988.51992 # Seafloor depth:-1039.933537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.65; 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 = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.893948 meters # Minimum depth: 1031.113512 meters looking forward 100.000000 meters along route # Maximum depth: 1042.018148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.113512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.816011; captureRadius = 10; duration = 109; initialDepth = 981.113512; finalDepth = 988.519920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.9046360000002 # Actual altitude: 60.9046360000002 # Commanded vehicle depth:981.113512 # Seafloor depth:-1042.018148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.36; MB_Bottom_Detect_Filter_Max_Range = 243.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 111.042223 meters # Minimum depth: 1028.664474 meters looking forward 100.000000 meters along route # Maximum depth: 1030.747641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.664474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.815346; captureRadius = 10; duration = 111; initialDepth = 978.664474; finalDepth = 981.113512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.9046360000002 # Actual altitude: 60.9046360000002 # Commanded vehicle depth:978.664474 # Seafloor depth:-1030.747641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.36; MB_Bottom_Detect_Filter_Max_Range = 243.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 108.744732 meters # Minimum depth: 1028.473507 meters looking forward 100.000000 meters along route # Maximum depth: 1031.395767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.473507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743656; longitude = -121.814674; captureRadius = 10; duration = 108; initialDepth = 978.473507; finalDepth = 978.664474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.083167 # Actual altitude: 52.083167 # Commanded vehicle depth:978.473507 # Seafloor depth:-1028.721668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 119.647801 meters # Minimum depth: 1028.577618 meters looking forward 100.000000 meters along route # Maximum depth: 1032.010793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.577618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.814016; captureRadius = 10; duration = 119; initialDepth = 978.577618; finalDepth = 978.473507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4331749999999 # Actual altitude: 53.4331749999999 # Commanded vehicle depth:978.577618 # Seafloor depth:-1032.010793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.73; 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 = 213.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.137901 meters # Minimum depth: 1028.853872 meters looking forward 100.000000 meters along route # Maximum depth: 1031.416550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.853872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745380; longitude = -121.813292; captureRadius = 10; duration = 100; initialDepth = 978.853872; finalDepth = 978.577618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4331749999999 # Actual altitude: 53.4331749999999 # Commanded vehicle depth:978.853872 # Seafloor depth:-1029.569950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.73; 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 = 213.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.892381 meters # Minimum depth: 1026.404403 meters looking forward 100.000000 meters along route # Maximum depth: 1031.762592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.404403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.812686; captureRadius = 10; duration = 109; initialDepth = 976.404403; finalDepth = 978.853872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.358189 # Actual altitude: 55.358189 # Commanded vehicle depth:976.404403 # Seafloor depth:-1031.762592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.892067 meters # Minimum depth: 1028.042872 meters looking forward 100.000000 meters along route # Maximum depth: 1028.392799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.042872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.812021; captureRadius = 10; duration = 109; initialDepth = 978.042872; finalDepth = 976.404403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.358189 # Actual altitude: 55.358189 # Commanded vehicle depth:978.042872 # Seafloor depth:-1028.119245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.891754 meters # Minimum depth: 1027.169345 meters looking forward 100.000000 meters along route # Maximum depth: 1028.256404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.169345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.811356; captureRadius = 10; duration = 109; initialDepth = 977.169345; finalDepth = 978.042872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.087059 # Actual altitude: 51.087059 # Commanded vehicle depth:977.169345 # Seafloor depth:-1028.256404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 118.322454 meters # Minimum depth: 1026.998473 meters looking forward 100.000000 meters along route # Maximum depth: 1027.903718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.998473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.810691; captureRadius = 10; duration = 118; initialDepth = 976.998473; finalDepth = 977.169345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.087059 # Actual altitude: 51.087059 # Commanded vehicle depth:976.998473 # Seafloor depth:-1027.365951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.460113 meters # Minimum depth: 1025.662125 meters looking forward 100.000000 meters along route # Maximum depth: 1028.040384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.662125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749516; longitude = -121.809975; captureRadius = 10; duration = 101; initialDepth = 975.662125; finalDepth = 976.998473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3782589999998 # Actual altitude: 52.3782589999998 # Commanded vehicle depth:975.662125 # Seafloor depth:-1028.040384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.890814 meters # Minimum depth: 1026.065451 meters looking forward 100.000000 meters along route # Maximum depth: 1026.763892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.065451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.809361; captureRadius = 10; duration = 109; initialDepth = 976.065451; finalDepth = 975.662125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3782589999998 # Actual altitude: 52.3782589999998 # Commanded vehicle depth:976.065451 # Seafloor depth:-1026.592411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.890500 meters # Minimum depth: 1025.900897 meters looking forward 100.000000 meters along route # Maximum depth: 1031.838727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.900897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.808696; captureRadius = 10; duration = 109; initialDepth = 975.900897; finalDepth = 976.065451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5269600000001 # Actual altitude: 50.5269600000001 # Commanded vehicle depth:975.900897 # Seafloor depth:-1025.900897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.890187 meters # Minimum depth: 1029.972820 meters looking forward 100.000000 meters along route # Maximum depth: 1031.842585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.972820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.808031; captureRadius = 10; duration = 109; initialDepth = 979.972820; finalDepth = 975.900897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8697650000001 # Actual altitude: 51.8697650000001 # Commanded vehicle depth:979.97282 # Seafloor depth:-1031.842585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 116.997145 meters # Minimum depth: 1027.461844 meters looking forward 100.000000 meters along route # Maximum depth: 1030.822544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.461844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.807366; captureRadius = 10; duration = 116; initialDepth = 977.461844; finalDepth = 979.972820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4880640000001 # Actual altitude: 52.4880640000001 # Commanded vehicle depth:977.461844 # Seafloor depth:-1029.949908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; 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 = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.782288 meters # Minimum depth: 1025.422114 meters looking forward 100.000000 meters along route # Maximum depth: 1027.419626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.422114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753652; longitude = -121.806658; captureRadius = 10; duration = 102; initialDepth = 975.422114; finalDepth = 977.461844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4880640000001 # Actual altitude: 52.4880640000001 # Commanded vehicle depth:975.422114 # Seafloor depth:-1027.335899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; 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 = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.889246 meters # Minimum depth: 1024.477169 meters looking forward 100.000000 meters along route # Maximum depth: 1026.577781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.477169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.806036; captureRadius = 10; duration = 109; initialDepth = 974.477169; finalDepth = 975.422114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.100612 # Actual altitude: 52.100612 # Commanded vehicle depth:974.477169 # Seafloor depth:-1026.577781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.888933 meters # Minimum depth: 1023.546016 meters looking forward 100.000000 meters along route # Maximum depth: 1026.227414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.546016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.805371; captureRadius = 10; duration = 109; initialDepth = 973.546016; finalDepth = 974.477169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.100612 # Actual altitude: 52.100612 # Commanded vehicle depth:973.546016 # Seafloor depth:-1024.894917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.888620 meters # Minimum depth: 1025.927083 meters looking forward 100.000000 meters along route # Maximum depth: 1029.089997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.927083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.804706; captureRadius = 10; duration = 109; initialDepth = 975.927083; finalDepth = 973.546016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3489010000001 # Actual altitude: 51.3489010000001 # Commanded vehicle depth:975.927083 # Seafloor depth:-1025.927083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 115.671874 meters # Minimum depth: 1026.162656 meters looking forward 100.000000 meters along route # Maximum depth: 1028.931049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.162656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.804041; captureRadius = 10; duration = 115; initialDepth = 976.162656; finalDepth = 975.927083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7683930000001 # Actual altitude: 52.7683930000001 # Commanded vehicle depth:976.162656 # Seafloor depth:-1028.931049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.104425 meters # Minimum depth: 1024.320558 meters looking forward 100.000000 meters along route # Maximum depth: 1026.865214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.320558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757788; longitude = -121.803341; captureRadius = 10; duration = 104; initialDepth = 974.320558; finalDepth = 976.162656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7683930000001 # Actual altitude: 52.7683930000001 # Commanded vehicle depth:974.320558 # Seafloor depth:-1026.674458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.887679 meters # Minimum depth: 1025.538303 meters looking forward 100.000000 meters along route # Maximum depth: 1026.944605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.538303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.802711; captureRadius = 10; duration = 109; initialDepth = 975.538303; finalDepth = 974.320558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3539000000001 # Actual altitude: 52.3539000000001 # Commanded vehicle depth:975.538303 # Seafloor depth:-1026.076748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.42; 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 = 209.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.887366 meters # Minimum depth: 1024.224917 meters looking forward 100.000000 meters along route # Maximum depth: 1026.444083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.224917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.802046; captureRadius = 10; duration = 109; initialDepth = 974.224917; finalDepth = 975.538303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2191660000001 # Actual altitude: 52.2191660000001 # Commanded vehicle depth:974.224917 # Seafloor depth:-1026.444083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.887053 meters # Minimum depth: 1023.773946 meters looking forward 100.000000 meters along route # Maximum depth: 1026.735489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.773946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.801381; captureRadius = 10; duration = 109; initialDepth = 973.773946; finalDepth = 974.224917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.296081 # Actual altitude: 52.296081 # Commanded vehicle depth:973.773946 # Seafloor depth:-1026.070027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 114.346640 meters # Minimum depth: 1024.608750 meters looking forward 100.000000 meters along route # Maximum depth: 1027.058367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.608750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.800716; captureRadius = 10; duration = 114; initialDepth = 974.608750; finalDepth = 973.773946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.296081 # Actual altitude: 52.296081 # Commanded vehicle depth:974.60875 # Seafloor depth:-1024.608750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.426525 meters # Minimum depth: 1026.042004 meters looking forward 100.000000 meters along route # Maximum depth: 1028.711607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.042004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761924; longitude = -121.800024; captureRadius = 10; duration = 105; initialDepth = 976.042004; finalDepth = 974.608750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.042004 # Seafloor depth:-1026.042004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.886113 meters # Minimum depth: 1028.363712 meters looking forward 100.000000 meters along route # Maximum depth: 1029.640069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.363712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.799386; captureRadius = 10; duration = 109; initialDepth = 978.363712; finalDepth = 976.042004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8338729999998 # Actual altitude: 50.8338729999998 # Commanded vehicle depth:978.363712 # Seafloor depth:-1029.197585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.885799 meters # Minimum depth: 1026.204706 meters looking forward 100.000000 meters along route # Maximum depth: 1030.440002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.204706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.798721; captureRadius = 10; duration = 109; initialDepth = 976.204706; finalDepth = 978.363712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0370029999999 # Actual altitude: 54.0370029999999 # Commanded vehicle depth:976.204706 # Seafloor depth:-1030.241709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.885486 meters # Minimum depth: 1024.984199 meters looking forward 100.000000 meters along route # Maximum depth: 1027.042128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.984199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.798056; captureRadius = 10; duration = 109; initialDepth = 974.984199; finalDepth = 976.204706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0370029999999 # Actual altitude: 54.0370029999999 # Commanded vehicle depth:974.984199 # Seafloor depth:-1026.231403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.021445 meters # Minimum depth: 1022.650615 meters looking forward 100.000000 meters along route # Maximum depth: 1025.428707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.650615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.797391; captureRadius = 10; duration = 113; initialDepth = 972.650615; finalDepth = 974.984199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5625929999999 # Actual altitude: 52.5625929999999 # Commanded vehicle depth:972.650615 # Seafloor depth:-1025.213208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.25; 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 = 210.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.748586 meters # Minimum depth: 1023.049305 meters looking forward 100.000000 meters along route # Maximum depth: 1025.236425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.049305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766060; longitude = -121.796707; captureRadius = 10; duration = 106; initialDepth = 973.049305; finalDepth = 972.650615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5625929999999 # Actual altitude: 52.5625929999999 # Commanded vehicle depth:973.049305 # Seafloor depth:-1023.049305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.25; 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 = 210.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.884546 meters # Minimum depth: 1025.280156 meters looking forward 100.000000 meters along route # Maximum depth: 1026.941263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.280156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.796061; captureRadius = 10; duration = 109; initialDepth = 975.280156; finalDepth = 973.049305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0860829999999 # Actual altitude: 50.0860829999999 # Commanded vehicle depth:975.280156 # Seafloor depth:-1025.366239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.884233 meters # Minimum depth: 1022.973369 meters looking forward 100.000000 meters along route # Maximum depth: 1026.866222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.973369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.795396; captureRadius = 10; duration = 109; initialDepth = 972.973369; finalDepth = 975.280156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.066182 # Actual altitude: 52.066182 # Commanded vehicle depth:972.973369 # Seafloor depth:-1025.039551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.883919 meters # Minimum depth: 1023.493080 meters looking forward 100.000000 meters along route # Maximum depth: 1026.621600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.493080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.794731; captureRadius = 10; duration = 109; initialDepth = 973.493080; finalDepth = 972.973369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.066182 # Actual altitude: 52.066182 # Commanded vehicle depth:973.49308 # Seafloor depth:-1023.493080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 111.696287 meters # Minimum depth: 1024.568856 meters looking forward 100.000000 meters along route # Maximum depth: 1026.210746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.568856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.794066; captureRadius = 10; duration = 111; initialDepth = 974.568856; finalDepth = 973.493080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.568856 # Seafloor depth:-1024.568856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 120.721041 meters # Minimum depth: 1024.881626 meters looking forward 100.000000 meters along route # Maximum depth: 1028.323378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.881626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770196; longitude = -121.793391; captureRadius = 10; duration = 120; initialDepth = 974.881626; finalDepth = 974.568856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4226659999999 # Actual altitude: 50.4226659999999 # Commanded vehicle depth:974.881626 # Seafloor depth:-1025.304292 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.69; 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 = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 105.648432 meters # Minimum depth: 1023.549851 meters looking forward 100.000000 meters along route # Maximum depth: 1029.952586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.549851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771107; longitude = -121.792660; captureRadius = 10; duration = 105; # abortOnTimeout = True; initialDepth = 973.549851; finalDepth = 974.881626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8207850000001 # Actual altitude: 54.8207850000001 # Commanded vehicle depth:973.549851 # Seafloor depth:-1028.370636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.28; 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 = 219.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.265626 meters # Minimum depth: 1022.519553 meters looking forward 100.000000 meters along route # Maximum depth: 1024.162607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.519553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.792380; captureRadius = 10; duration = 105; initialDepth = 972.519553; finalDepth = 973.549851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8207850000001 # Actual altitude: 54.8207850000001 # Commanded vehicle depth:972.519553 # Seafloor depth:-1024.162607 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.28; 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 = 219.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 30.388848 meters # Minimum depth: 1022.176373 meters looking forward 100.000000 meters along route # Maximum depth: 1022.870386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.176373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769261; longitude = -121.792101; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 972.176373; finalDepth = 972.519553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.643054 # Actual altitude: 51.643054 # Commanded vehicle depth:972.176373 # Seafloor depth:-1022.572540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.57; 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 = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.929608 meters # Minimum depth: 1020.430768 meters looking forward 100.000000 meters along route # Maximum depth: 1021.733137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.430768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769032; longitude = -121.792285; captureRadius = 10; duration = 103; initialDepth = 970.430768; finalDepth = 972.176373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3023690000001 # Actual altitude: 51.3023690000001 # Commanded vehicle depth:970.430768 # Seafloor depth:-1021.733137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.894923 meters # Minimum depth: 1020.229081 meters looking forward 100.000000 meters along route # Maximum depth: 1022.567934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.229081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.792914; captureRadius = 10; duration = 109; initialDepth = 970.229081; finalDepth = 970.430768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3388530000001 # Actual altitude: 52.3388530000001 # Commanded vehicle depth:970.229081 # Seafloor depth:-1022.567934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.36; 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 = 209.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.895237 meters # Minimum depth: 1020.528228 meters looking forward 100.000000 meters along route # Maximum depth: 1026.218044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.528228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.793579; captureRadius = 10; duration = 109; initialDepth = 970.528228; finalDepth = 970.229081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3388530000001 # Actual altitude: 52.3388530000001 # Commanded vehicle depth:970.528228 # Seafloor depth:-1022.483150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.36; 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 = 209.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.895550 meters # Minimum depth: 1022.231599 meters looking forward 100.000000 meters along route # Maximum depth: 1026.404066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.231599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.794244; captureRadius = 10; duration = 109; initialDepth = 972.231599; finalDepth = 970.528228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1724670000001 # Actual altitude: 54.1724670000001 # Commanded vehicle depth:972.231599 # Seafloor depth:-1026.404066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 114.361793 meters # Minimum depth: 1022.179289 meters looking forward 100.000000 meters along route # Maximum depth: 1022.557142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.179289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.794910; captureRadius = 10; duration = 114; initialDepth = 972.179289; finalDepth = 972.231599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1724670000001 # Actual altitude: 54.1724670000001 # Commanded vehicle depth:972.179289 # Seafloor depth:-1022.557142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.430248 meters # Minimum depth: 1022.237324 meters looking forward 100.000000 meters along route # Maximum depth: 1024.153888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.237324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764897; longitude = -121.795602; captureRadius = 10; duration = 105; initialDepth = 972.237324; finalDepth = 972.179289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.377853 # Actual altitude: 50.377853 # Commanded vehicle depth:972.237324 # Seafloor depth:-1022.237324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.896491 meters # Minimum depth: 1022.334988 meters looking forward 100.000000 meters along route # Maximum depth: 1023.921434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.334988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.796240; captureRadius = 10; duration = 109; initialDepth = 972.334988; finalDepth = 972.237324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.586446 # Actual altitude: 51.586446 # Commanded vehicle depth:972.334988 # Seafloor depth:-1023.921434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.35; 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 = 206.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.896804 meters # Minimum depth: 1022.288025 meters looking forward 100.000000 meters along route # Maximum depth: 1026.279544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.288025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.796905; captureRadius = 10; duration = 109; initialDepth = 972.288025; finalDepth = 972.334988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.586446 # Actual altitude: 51.586446 # Commanded vehicle depth:972.288025 # Seafloor depth:-1022.506062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.35; 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 = 206.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.897118 meters # Minimum depth: 1026.474199 meters looking forward 100.000000 meters along route # Maximum depth: 1029.411267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.474199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.797570; captureRadius = 10; duration = 109; initialDepth = 976.474199; finalDepth = 972.288025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2180370000001 # Actual altitude: 50.2180370000001 # Commanded vehicle depth:976.474199 # Seafloor depth:-1026.474199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 112.864245 meters # Minimum depth: 1024.597601 meters looking forward 100.000000 meters along route # Maximum depth: 1026.961938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.597601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.798235; captureRadius = 10; duration = 112; initialDepth = 974.597601; finalDepth = 976.474199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.364337 # Actual altitude: 52.364337 # Commanded vehicle depth:974.597601 # Seafloor depth:-1026.961938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.930931 meters # Minimum depth: 1023.132317 meters looking forward 100.000000 meters along route # Maximum depth: 1024.923285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.132317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760762; longitude = -121.798919; captureRadius = 10; duration = 106; initialDepth = 973.132317; finalDepth = 974.597601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.364337 # Actual altitude: 52.364337 # Commanded vehicle depth:973.132317 # Seafloor depth:-1024.584482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.898059 meters # Minimum depth: 1021.583028 meters looking forward 100.000000 meters along route # Maximum depth: 1026.207908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.583028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.799566; captureRadius = 10; duration = 109; initialDepth = 971.583028; finalDepth = 973.132317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.452165 # Actual altitude: 51.452165 # Commanded vehicle depth:971.583028 # Seafloor depth:-1022.573359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.898372 meters # Minimum depth: 1022.437516 meters looking forward 100.000000 meters along route # Maximum depth: 1024.020470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.437516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.800231; captureRadius = 10; duration = 109; initialDepth = 972.437516; finalDepth = 971.583028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.990331 # Actual altitude: 50.990331 # Commanded vehicle depth:972.437516 # Seafloor depth:-1022.437516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.898685 meters # Minimum depth: 1022.293515 meters looking forward 100.000000 meters along route # Maximum depth: 1024.848706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.293515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.800896; captureRadius = 10; duration = 109; initialDepth = 972.293515; finalDepth = 972.437516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.093291 # Actual altitude: 52.093291 # Commanded vehicle depth:972.293515 # Seafloor depth:-1024.386806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.366654 meters # Minimum depth: 1024.602383 meters looking forward 100.000000 meters along route # Maximum depth: 1027.468036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.602383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.801561; captureRadius = 10; duration = 111; initialDepth = 974.602383; finalDepth = 972.293515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.093291 # Actual altitude: 52.093291 # Commanded vehicle depth:974.602383 # Seafloor depth:-1024.602383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.431658 meters # Minimum depth: 1026.237193 meters looking forward 100.000000 meters along route # Maximum depth: 1027.437344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.237193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756627; longitude = -121.802235; captureRadius = 10; duration = 108; initialDepth = 976.237193; finalDepth = 974.602383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.123034 # Actual altitude: 51.123034 # Commanded vehicle depth:976.237193 # Seafloor depth:-1027.360227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.899626 meters # Minimum depth: 1024.440091 meters looking forward 100.000000 meters along route # Maximum depth: 1026.168688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.440091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.802892; captureRadius = 10; duration = 109; initialDepth = 974.440091; finalDepth = 976.237193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.728597 # Actual altitude: 51.728597 # Commanded vehicle depth:974.440091 # Seafloor depth:-1026.168688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.899939 meters # Minimum depth: 1022.171012 meters looking forward 100.000000 meters along route # Maximum depth: 1024.097826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.171012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.803557; captureRadius = 10; duration = 109; initialDepth = 972.171012; finalDepth = 974.440091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9268139999999 # Actual altitude: 51.9268139999999 # Commanded vehicle depth:972.171012 # Seafloor depth:-1024.097826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.900254 meters # Minimum depth: 1022.598059 meters looking forward 100.000000 meters along route # Maximum depth: 1025.406908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.598059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.804222; captureRadius = 10; duration = 109; initialDepth = 972.598059; finalDepth = 972.171012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9268139999999 # Actual altitude: 51.9268139999999 # Commanded vehicle depth:972.598059 # Seafloor depth:-1022.598059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.900566 meters # Minimum depth: 1024.769718 meters looking forward 100.000000 meters along route # Maximum depth: 1026.672314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.769718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.804887; captureRadius = 10; duration = 109; initialDepth = 974.769718; finalDepth = 972.598059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.929394 # Actual altitude: 50.929394 # Commanded vehicle depth:974.769718 # Seafloor depth:-1025.699112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.900881 meters # Minimum depth: 1025.460044 meters looking forward 100.000000 meters along route # Maximum depth: 1026.674456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.460044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.805553; captureRadius = 10; duration = 109; initialDepth = 975.460044; finalDepth = 974.769718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.214412 # Actual altitude: 51.214412 # Commanded vehicle depth:975.460044 # Seafloor depth:-1026.674456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 118.403415 meters # Minimum depth: 1026.623054 meters looking forward 100.000000 meters along route # Maximum depth: 1029.848999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.623054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.806218; captureRadius = 10; duration = 118; initialDepth = 976.623054; finalDepth = 975.460044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.214412 # Actual altitude: 51.214412 # Commanded vehicle depth:976.623054 # Seafloor depth:-1026.623054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.399286 meters # Minimum depth: 1025.280346 meters looking forward 100.000000 meters along route # Maximum depth: 1029.927918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.280346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750770; longitude = -121.806934; captureRadius = 10; duration = 101; initialDepth = 975.280346; finalDepth = 976.623054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6475720000001 # Actual altitude: 54.6475720000001 # Commanded vehicle depth:975.280346 # Seafloor depth:-1029.927918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.901821 meters # Minimum depth: 1024.367893 meters looking forward 100.000000 meters along route # Maximum depth: 1025.704216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.367893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.807548; captureRadius = 10; duration = 109; initialDepth = 974.367893; finalDepth = 975.280346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.6475720000001 # Actual altitude: 54.6475720000001 # Commanded vehicle depth:974.367893 # Seafloor depth:-1025.704216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.902135 meters # Minimum depth: 1023.687544 meters looking forward 100.000000 meters along route # Maximum depth: 1025.339308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.687544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.808213; captureRadius = 10; duration = 109; initialDepth = 973.687544; finalDepth = 974.367893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.336323 # Actual altitude: 51.336323 # Commanded vehicle depth:973.687544 # Seafloor depth:-1024.645265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.902448 meters # Minimum depth: 1023.698197 meters looking forward 100.000000 meters along route # Maximum depth: 1026.232138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.698197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.808878; captureRadius = 10; duration = 109; initialDepth = 973.698197; finalDepth = 973.687544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9577210000001 # Actual altitude: 50.9577210000001 # Commanded vehicle depth:973.698197 # Seafloor depth:-1023.698197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 116.905853 meters # Minimum depth: 1026.601190 meters looking forward 100.000000 meters along route # Maximum depth: 1027.163064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.601190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.809544; captureRadius = 10; duration = 116; initialDepth = 976.601190; finalDepth = 973.698197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.60119 # Seafloor depth:-1026.601190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.899985 meters # Minimum depth: 1024.313624 meters looking forward 100.000000 meters along route # Maximum depth: 1028.343334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.313624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746635; longitude = -121.810251; captureRadius = 10; duration = 102; initialDepth = 974.313624; finalDepth = 976.601190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2725990000001 # Actual altitude: 52.2725990000001 # Commanded vehicle depth:974.313624 # Seafloor depth:-1026.586223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.903389 meters # Minimum depth: 1023.956203 meters looking forward 100.000000 meters along route # Maximum depth: 1029.125431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.956203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.810874; captureRadius = 10; duration = 109; initialDepth = 973.956203; finalDepth = 974.313624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2725990000001 # Actual altitude: 52.2725990000001 # Commanded vehicle depth:973.956203 # Seafloor depth:-1023.956203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.903703 meters # Minimum depth: 1027.352503 meters looking forward 100.000000 meters along route # Maximum depth: 1028.500271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.352503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.811539; captureRadius = 10; duration = 109; initialDepth = 977.352503; finalDepth = 973.956203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.147768 # Actual altitude: 51.147768 # Commanded vehicle depth:977.352503 # Seafloor depth:-1028.500271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.904016 meters # Minimum depth: 1027.592403 meters looking forward 100.000000 meters along route # Maximum depth: 1029.050953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.592403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.812204; captureRadius = 10; duration = 109; initialDepth = 977.592403; finalDepth = 977.352503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.147768 # Actual altitude: 51.147768 # Commanded vehicle depth:977.592403 # Seafloor depth:-1027.592403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.408247 meters # Minimum depth: 1027.930922 meters looking forward 100.000000 meters along route # Maximum depth: 1030.542148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.930922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.812870; captureRadius = 10; duration = 115; initialDepth = 977.930922; finalDepth = 977.592403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.611226 # Actual altitude: 52.611226 # Commanded vehicle depth:977.930922 # Seafloor depth:-1030.542148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.400727 meters # Minimum depth: 1028.708598 meters looking forward 100.000000 meters along route # Maximum depth: 1031.644201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.708598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742500; longitude = -121.813568; captureRadius = 10; duration = 104; initialDepth = 978.708598; finalDepth = 977.930922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.611226 # Actual altitude: 52.611226 # Commanded vehicle depth:978.708598 # Seafloor depth:-1029.196087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.904957 meters # Minimum depth: 1030.865169 meters looking forward 100.000000 meters along route # Maximum depth: 1036.076629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.865169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.814200; captureRadius = 10; duration = 109; initialDepth = 980.865169; finalDepth = 978.708598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4874890000001 # Actual altitude: 50.4874890000001 # Commanded vehicle depth:980.865169 # Seafloor depth:-1030.865169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.905271 meters # Minimum depth: 1032.873138 meters looking forward 100.000000 meters along route # Maximum depth: 1042.882040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.873138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.814865; captureRadius = 10; duration = 109; initialDepth = 982.873138; finalDepth = 980.865169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7162700000001 # Actual altitude: 55.7162700000001 # Commanded vehicle depth:982.873138 # Seafloor depth:-1038.589408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.905584 meters # Minimum depth: 1032.262387 meters looking forward 100.000000 meters along route # Maximum depth: 1034.598089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.262387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.815530; captureRadius = 10; duration = 109; initialDepth = 982.262387; finalDepth = 982.873138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7162700000001 # Actual altitude: 55.7162700000001 # Commanded vehicle depth:982.262387 # Seafloor depth:-1032.262387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 113.910599 meters # Minimum depth: 1028.696660 meters looking forward 100.000000 meters along route # Maximum depth: 1031.286836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.696660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.816195; captureRadius = 10; duration = 113; initialDepth = 978.696660; finalDepth = 982.262387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0791159999999 # Actual altitude: 52.0791159999999 # Commanded vehicle depth:978.69666 # Seafloor depth:-1030.775776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.901511 meters # Minimum depth: 1030.980969 meters looking forward 100.000000 meters along route # Maximum depth: 1032.579824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.980969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738366; longitude = -121.816885; captureRadius = 10; duration = 105; initialDepth = 980.980969; finalDepth = 978.696660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0791159999999 # Actual altitude: 52.0791159999999 # Commanded vehicle depth:980.980969 # Seafloor depth:-1031.426102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.445432 meters # Minimum depth: 1031.800210 meters looking forward 100.000000 meters along route # Maximum depth: 1034.807317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.800210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.817526; captureRadius = 10; duration = 122; initialDepth = 981.800210; finalDepth = 980.980969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4451329999999 # Actual altitude: 50.4451329999999 # Commanded vehicle depth:981.80021 # Seafloor depth:-1031.800210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.789063 meters # Minimum depth: 1030.126039 meters looking forward 100.000000 meters along route # Maximum depth: 1035.100272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.126039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736643; longitude = -121.818267; captureRadius = 10; duration = 121; initialDepth = 980.126039; finalDepth = 981.800210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9742329999999 # Actual altitude: 54.9742329999999 # Commanded vehicle depth:980.126039 # Seafloor depth:-1035.100272 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 51.726929 meters # Minimum depth: 1029.290483 meters looking forward 100.000000 meters along route # Maximum depth: 1031.502045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.290483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735724; longitude = -121.819004; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 979.290483; finalDepth = 980.126039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9742329999999 # Actual altitude: 54.9742329999999 # Commanded vehicle depth:979.290483 # Seafloor depth:-1031.502045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.444987 meters # Minimum depth: 1030.273020 meters looking forward 100.000000 meters along route # Maximum depth: 1034.035277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.273020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735448; longitude = -121.818543; captureRadius = 10; duration = 103; initialDepth = 980.273020; finalDepth = 979.290483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.211562 # Actual altitude: 52.211562 # Commanded vehicle depth:980.27302 # Seafloor depth:-1030.979872 # behavior reson { duration = 6; SBP_Power = 0.0; 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 = 156.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 30.587445 meters # Minimum depth: 1032.023085 meters looking forward 100.000000 meters along route # Maximum depth: 1034.035277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.023085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734895; longitude = -121.817622; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 982.023085; finalDepth = 980.273020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7068519999998 # Actual altitude: 50.7068519999998 # Commanded vehicle depth:982.023085 # Seafloor depth:-1032.304230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.462008 meters # Minimum depth: 1031.601786 meters looking forward 100.000000 meters along route # Maximum depth: 1032.891115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.601786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735126; longitude = -121.817438; captureRadius = 10; duration = 103; initialDepth = 981.601786; finalDepth = 982.023085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.781344 # Actual altitude: 50.781344 # Commanded vehicle depth:981.601786 # Seafloor depth:-1032.383130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.701542 meters # Minimum depth: 1031.117588 meters looking forward 100.000000 meters along route # Maximum depth: 1033.703959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.117588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.816814; captureRadius = 10; duration = 109; initialDepth = 981.117588; finalDepth = 981.601786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.383047 # Actual altitude: 51.383047 # Commanded vehicle depth:981.117588 # Seafloor depth:-1032.500635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.701232 meters # Minimum depth: 1028.610091 meters looking forward 100.000000 meters along route # Maximum depth: 1031.404029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.610091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.816153; captureRadius = 10; duration = 109; initialDepth = 978.610091; finalDepth = 981.117588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.383047 # Actual altitude: 51.383047 # Commanded vehicle depth:978.610091 # Seafloor depth:-1028.610091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.700921 meters # Minimum depth: 1027.169427 meters looking forward 100.000000 meters along route # Maximum depth: 1031.201722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.169427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.815492; captureRadius = 10; duration = 109; initialDepth = 977.169427; finalDepth = 978.610091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.032295 # Actual altitude: 54.032295 # Commanded vehicle depth:977.169427 # Seafloor depth:-1031.201722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 117.884127 meters # Minimum depth: 1029.404515 meters looking forward 100.000000 meters along route # Maximum depth: 1040.655554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.404515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.814831; captureRadius = 10; duration = 117; initialDepth = 979.404515; finalDepth = 977.169427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.032295 # Actual altitude: 54.032295 # Commanded vehicle depth:979.404515 # Seafloor depth:-1031.353858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.516786 meters # Minimum depth: 1034.704390 meters looking forward 100.000000 meters along route # Maximum depth: 1040.282241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.704390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739287; longitude = -121.814121; captureRadius = 10; duration = 101; initialDepth = 984.704390; finalDepth = 979.404515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.577851 # Actual altitude: 55.577851 # Commanded vehicle depth:984.70439 # Seafloor depth:-1040.282241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.699991 meters # Minimum depth: 1025.550075 meters looking forward 100.000000 meters along route # Maximum depth: 1033.549498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.550075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.813509; captureRadius = 10; duration = 109; initialDepth = 975.550075; finalDepth = 984.704390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.917659 # Actual altitude: 57.917659 # Commanded vehicle depth:975.550075 # Seafloor depth:-1033.467734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.875351 meters # Minimum depth: 1029.840199 meters looking forward 100.000000 meters along route # Maximum depth: 1032.326107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.840199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.812848; captureRadius = 10; duration = 109; initialDepth = 979.840199; finalDepth = 975.550075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.917659 # Actual altitude: 57.917659 # Commanded vehicle depth:979.840199 # Seafloor depth:-1030.632770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.523701 meters # Minimum depth: 1028.662324 meters looking forward 100.000000 meters along route # Maximum depth: 1032.310374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.662324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741714; longitude = -121.812186; captureRadius = 10; duration = 109; initialDepth = 978.662324; finalDepth = 979.840199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.64805 # Actual altitude: 53.64805 # Commanded vehicle depth:978.662324 # Seafloor depth:-1032.310374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.699060 meters # Minimum depth: 1025.917619 meters looking forward 100.000000 meters along route # Maximum depth: 1028.849704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.917619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.811526; captureRadius = 10; duration = 109; initialDepth = 975.917619; finalDepth = 978.662324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.64805 # Actual altitude: 53.64805 # Commanded vehicle depth:975.917619 # Seafloor depth:-1028.849704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.698751 meters # Minimum depth: 1025.420209 meters looking forward 100.000000 meters along route # Maximum depth: 1026.456281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.420209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.810865; captureRadius = 10; duration = 109; initialDepth = 975.420209; finalDepth = 975.917619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9320849999999 # Actual altitude: 52.9320849999999 # Commanded vehicle depth:975.420209 # Seafloor depth:-1026.396969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.698441 meters # Minimum depth: 1024.114254 meters looking forward 100.000000 meters along route # Maximum depth: 1025.665301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.114254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.810204; captureRadius = 10; duration = 109; initialDepth = 974.114254; finalDepth = 975.420209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5510469999999 # Actual altitude: 51.5510469999999 # Commanded vehicle depth:974.114254 # Seafloor depth:-1025.665301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.817514 meters # Minimum depth: 1024.039233 meters looking forward 100.000000 meters along route # Maximum depth: 1028.104487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.039233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.809543; captureRadius = 10; duration = 111; initialDepth = 974.039233; finalDepth = 974.114254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5510469999999 # Actual altitude: 51.5510469999999 # Commanded vehicle depth:974.039233 # Seafloor depth:-1024.684363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.578437 meters # Minimum depth: 1024.237229 meters looking forward 100.000000 meters along route # Maximum depth: 1025.560371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.237229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745875; longitude = -121.808869; captureRadius = 10; duration = 107; initialDepth = 974.237229; finalDepth = 974.039233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6451300000001 # Actual altitude: 50.6451300000001 # Commanded vehicle depth:974.237229 # Seafloor depth:-1024.237229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.697510 meters # Minimum depth: 1023.916240 meters looking forward 100.000000 meters along route # Maximum depth: 1025.387511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.916240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.808221; captureRadius = 10; duration = 109; initialDepth = 973.916240; finalDepth = 974.237229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4712709999999 # Actual altitude: 51.4712709999999 # Commanded vehicle depth:973.91624 # Seafloor depth:-1025.387511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.697200 meters # Minimum depth: 1023.408819 meters looking forward 100.000000 meters along route # Maximum depth: 1024.272947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.408819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.807560; captureRadius = 10; duration = 109; initialDepth = 973.408819; finalDepth = 973.916240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4712709999999 # Actual altitude: 51.4712709999999 # Commanded vehicle depth:973.408819 # Seafloor depth:-1024.272947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.696891 meters # Minimum depth: 1023.434377 meters looking forward 100.000000 meters along route # Maximum depth: 1025.836771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.434377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.806899; captureRadius = 10; duration = 109; initialDepth = 973.434377; finalDepth = 973.408819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8641279999999 # Actual altitude: 50.8641279999999 # Commanded vehicle depth:973.434377 # Seafloor depth:-1023.434377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 113.759623 meters # Minimum depth: 1023.964784 meters looking forward 100.000000 meters along route # Maximum depth: 1026.875408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.964784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.806238; captureRadius = 10; duration = 113; initialDepth = 973.964784; finalDepth = 973.434377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.658938 # Actual altitude: 52.658938 # Commanded vehicle depth:973.964784 # Seafloor depth:-1026.623722 # 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 5 # Segment length 105.633227 meters # Minimum depth: 1023.946375 meters looking forward 100.000000 meters along route # Maximum depth: 1025.453961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.946375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750036; longitude = -121.805552; captureRadius = 10; duration = 105; initialDepth = 973.946375; finalDepth = 973.964784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.658938 # Actual altitude: 52.658938 # Commanded vehicle depth:973.946375 # Seafloor depth:-1023.946375 # 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 5 # Segment length 109.695960 meters # Minimum depth: 1023.293026 meters looking forward 100.000000 meters along route # Maximum depth: 1025.823761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.293026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.804916; captureRadius = 10; duration = 109; initialDepth = 973.293026; finalDepth = 973.946375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.309925 # Actual altitude: 51.309925 # Commanded vehicle depth:973.293026 # Seafloor depth:-1024.602951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.695650 meters # Minimum depth: 1015.349583 meters looking forward 100.000000 meters along route # Maximum depth: 1022.811882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.349583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.804255; captureRadius = 10; duration = 109; initialDepth = 965.349583; finalDepth = 973.293026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.06589 # Actual altitude: 57.06589 # Commanded vehicle depth:965.349583 # Seafloor depth:-1022.415473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.695340 meters # Minimum depth: 1015.073632 meters looking forward 100.000000 meters along route # Maximum depth: 1020.645444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.073632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.803594; captureRadius = 10; duration = 109; initialDepth = 965.073632; finalDepth = 965.349583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.06589 # Actual altitude: 57.06589 # Commanded vehicle depth:965.073632 # Seafloor depth:-1015.073632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 228.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.701677 meters # Minimum depth: 1020.598589 meters looking forward 100.000000 meters along route # Maximum depth: 1023.065389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.598589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.802933; captureRadius = 10; duration = 115; initialDepth = 970.598589; finalDepth = 965.073632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.598589 # Seafloor depth:-1020.598589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 103.688073 meters # Minimum depth: 1020.894120 meters looking forward 100.000000 meters along route # Maximum depth: 1021.375922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.894120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754196; longitude = -121.802235; captureRadius = 10; duration = 103; initialDepth = 970.894120; finalDepth = 970.598589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.441864 # Actual altitude: 50.441864 # Commanded vehicle depth:970.89412 # Seafloor depth:-1021.335984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.694410 meters # Minimum depth: 1021.809024 meters looking forward 100.000000 meters along route # Maximum depth: 1025.622515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.809024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.801611; captureRadius = 10; duration = 109; initialDepth = 971.809024; finalDepth = 970.894120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.441864 # Actual altitude: 50.441864 # Commanded vehicle depth:971.809024 # Seafloor depth:-1021.809024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.694100 meters # Minimum depth: 1022.313276 meters looking forward 100.000000 meters along route # Maximum depth: 1025.152641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.313276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.800950; captureRadius = 10; duration = 109; initialDepth = 972.313276; finalDepth = 971.809024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8393649999999 # Actual altitude: 52.8393649999999 # Commanded vehicle depth:972.313276 # Seafloor depth:-1025.152641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.693790 meters # Minimum depth: 1022.214819 meters looking forward 100.000000 meters along route # Maximum depth: 1024.649582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.214819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.800289; captureRadius = 10; duration = 109; initialDepth = 972.214819; finalDepth = 972.313276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8393649999999 # Actual altitude: 52.8393649999999 # Commanded vehicle depth:972.214819 # Seafloor depth:-1022.214819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 117.643675 meters # Minimum depth: 1021.286172 meters looking forward 100.000000 meters along route # Maximum depth: 1024.511534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.286172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.799628; captureRadius = 10; duration = 117; initialDepth = 971.286172; finalDepth = 972.214819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.706262 # Actual altitude: 52.706262 # Commanded vehicle depth:971.286172 # Seafloor depth:-1023.992434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.742974 meters # Minimum depth: 1019.207299 meters looking forward 100.000000 meters along route # Maximum depth: 1021.762727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.207299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758357; longitude = -121.798919; captureRadius = 10; duration = 101; initialDepth = 969.207299; finalDepth = 971.286172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.706262 # Actual altitude: 52.706262 # Commanded vehicle depth:969.207299 # Seafloor depth:-1020.666233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.692860 meters # Minimum depth: 1022.191181 meters looking forward 100.000000 meters along route # Maximum depth: 1024.635093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.191181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.798306; captureRadius = 10; duration = 109; initialDepth = 972.191181; finalDepth = 969.207299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.458934 # Actual altitude: 51.458934 # Commanded vehicle depth:972.191181 # Seafloor depth:-1022.191181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.692550 meters # Minimum depth: 1023.056626 meters looking forward 100.000000 meters along route # Maximum depth: 1024.556747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.056626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.797644; captureRadius = 10; duration = 109; initialDepth = 973.056626; finalDepth = 972.191181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1406769999999 # Actual altitude: 51.1406769999999 # Commanded vehicle depth:973.056626 # Seafloor depth:-1024.197303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.692240 meters # Minimum depth: 1024.558630 meters looking forward 100.000000 meters along route # Maximum depth: 1026.487423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.558630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.796983; captureRadius = 10; duration = 109; initialDepth = 974.558630; finalDepth = 973.056626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1406769999999 # Actual altitude: 51.1406769999999 # Commanded vehicle depth:974.55863 # Seafloor depth:-1024.558630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.691929 meters # Minimum depth: 1022.222411 meters looking forward 100.000000 meters along route # Maximum depth: 1023.555944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.222411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.796322; captureRadius = 10; duration = 109; initialDepth = 972.222411; finalDepth = 974.558630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.333533 # Actual altitude: 51.333533 # Commanded vehicle depth:972.222411 # Seafloor depth:-1023.555944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.691620 meters # Minimum depth: 1021.816416 meters looking forward 100.000000 meters along route # Maximum depth: 1024.533951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.816416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.795661; captureRadius = 10; duration = 109; initialDepth = 971.816416; finalDepth = 972.222411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.040553 # Actual altitude: 52.040553 # Commanded vehicle depth:971.816416 # Seafloor depth:-1023.856969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.16; 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 = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.691310 meters # Minimum depth: 1019.107771 meters looking forward 100.000000 meters along route # Maximum depth: 1021.668774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.107771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.795000; captureRadius = 10; duration = 109; initialDepth = 969.107771; finalDepth = 971.816416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.288189 # Actual altitude: 52.288189 # Commanded vehicle depth:969.107771 # Seafloor depth:-1021.395960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.577464 meters # Minimum depth: 1020.122697 meters looking forward 100.000000 meters along route # Maximum depth: 1021.587393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.122697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.794339; captureRadius = 10; duration = 111; initialDepth = 970.122697; finalDepth = 969.107771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.288189 # Actual altitude: 52.288189 # Commanded vehicle depth:970.122697 # Seafloor depth:-1021.587393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.804226 meters # Minimum depth: 1020.797179 meters looking forward 100.000000 meters along route # Maximum depth: 1021.182631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.797179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764945; longitude = -121.793667; captureRadius = 10; duration = 107; initialDepth = 970.797179; finalDepth = 970.122697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.464696 # Actual altitude: 51.464696 # Commanded vehicle depth:970.797179 # Seafloor depth:-1020.993840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.527508 meters # Minimum depth: 1019.617618 meters looking forward 100.000000 meters along route # Maximum depth: 1020.661271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.617618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.793017; captureRadius = 10; duration = 121; initialDepth = 969.617618; finalDepth = 970.797179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9015890000001 # Actual altitude: 50.9015890000001 # Commanded vehicle depth:969.617618 # Seafloor depth:-1020.519207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.287284 meters # Minimum depth: 1019.643779 meters looking forward 100.000000 meters along route # Maximum depth: 1021.632564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.643779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766679; longitude = -121.792285; captureRadius = 10; duration = 122; initialDepth = 969.643779; finalDepth = 969.617618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9015890000001 # Actual altitude: 50.9015890000001 # Commanded vehicle depth:969.643779 # Seafloor depth:-1019.803448 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 114.387062 meters # Minimum depth: 1020.761287 meters looking forward 100.000000 meters along route # Maximum depth: 1021.303452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.761287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767603; longitude = -121.791548; captureRadius = 10; duration = 114; # abortOnTimeout = True; initialDepth = 970.761287; finalDepth = 969.643779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.542165 # Actual altitude: 50.542165 # Commanded vehicle depth:970.761287 # Seafloor depth:-1021.303452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.291130 meters # Minimum depth: 1019.647595 meters looking forward 100.000000 meters along route # Maximum depth: 1022.151397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.647595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.791317; captureRadius = 10; duration = 114; initialDepth = 969.647595; finalDepth = 970.761287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.503802 # Actual altitude: 52.503802 # Commanded vehicle depth:969.647595 # Seafloor depth:-1022.151397 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.02; 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 = 210.02; 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 to get to end of line 3 # Segment length 85.384304 meters # Minimum depth: 1019.313080 meters looking forward 100.000000 meters along route # Maximum depth: 1020.718675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.313080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765576; longitude = -121.791087; captureRadius = 10; duration = 85; # abortOnTimeout = True; initialDepth = 969.313080; finalDepth = 969.647595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.503802 # Actual altitude: 52.503802 # Commanded vehicle depth:969.31308 # Seafloor depth:-1019.313080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.02; 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 = 210.02; 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 3 # Segment length 113.316827 meters # Minimum depth: 1019.114552 meters looking forward 100.000000 meters along route # Maximum depth: 1020.645290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.114552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.791602; captureRadius = 10; duration = 113; initialDepth = 969.114552; finalDepth = 969.313080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.530738 # Actual altitude: 51.530738 # Commanded vehicle depth:969.114552 # Seafloor depth:-1020.645290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.105528 meters # Minimum depth: 1020.477943 meters looking forward 100.000000 meters along route # Maximum depth: 1021.970820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.477943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764074; longitude = -121.792285; captureRadius = 10; duration = 106; initialDepth = 970.477943; finalDepth = 969.114552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.530738 # Actual altitude: 51.530738 # Commanded vehicle depth:970.477943 # Seafloor depth:-1020.477943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.711643 meters # Minimum depth: 1019.153446 meters looking forward 100.000000 meters along route # Maximum depth: 1021.513272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.153446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.792925; captureRadius = 10; duration = 109; initialDepth = 969.153446; finalDepth = 970.477943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.359826 # Actual altitude: 52.359826 # Commanded vehicle depth:969.153446 # Seafloor depth:-1021.513272 # 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 3 # Segment length 109.711953 meters # Minimum depth: 1019.248455 meters looking forward 100.000000 meters along route # Maximum depth: 1023.282481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.248455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.793586; captureRadius = 10; duration = 109; initialDepth = 969.248455; finalDepth = 969.153446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.380107 # Actual altitude: 53.380107 # Commanded vehicle depth:969.248455 # Seafloor depth:-1022.628562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.712264 meters # Minimum depth: 1017.750161 meters looking forward 100.000000 meters along route # Maximum depth: 1020.478371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.750161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.794247; captureRadius = 10; duration = 109; initialDepth = 967.750161; finalDepth = 969.248455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.380107 # Actual altitude: 53.380107 # Commanded vehicle depth:967.750161 # Seafloor depth:-1018.984480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.925091 meters # Minimum depth: 1017.267597 meters looking forward 100.000000 meters along route # Maximum depth: 1023.001452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.267597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.794909; captureRadius = 10; duration = 114; initialDepth = 967.267597; finalDepth = 967.750161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2343189999999 # Actual altitude: 51.2343189999999 # Commanded vehicle depth:967.267597 # Seafloor depth:-1017.267597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.500367 meters # Minimum depth: 1021.957042 meters looking forward 100.000000 meters along route # Maximum depth: 1023.095639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.957042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759916; longitude = -121.795602; captureRadius = 10; duration = 104; initialDepth = 971.957042; finalDepth = 967.267597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.970909 # Actual altitude: 50.970909 # Commanded vehicle depth:971.957042 # Seafloor depth:-1022.927951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.88; 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 = 203.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.713194 meters # Minimum depth: 1019.731246 meters looking forward 100.000000 meters along route # Maximum depth: 1021.711657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.731246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.796232; captureRadius = 10; duration = 109; initialDepth = 969.731246; finalDepth = 971.957042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2749869999999 # Actual altitude: 51.2749869999999 # Commanded vehicle depth:969.731246 # Seafloor depth:-1021.006233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.713505 meters # Minimum depth: 1019.797698 meters looking forward 100.000000 meters along route # Maximum depth: 1021.589367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.797698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.796893; captureRadius = 10; duration = 109; initialDepth = 969.797698; finalDepth = 969.731246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7916690000001 # Actual altitude: 51.7916690000001 # Commanded vehicle depth:969.797698 # Seafloor depth:-1021.589367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.713815 meters # Minimum depth: 1019.196016 meters looking forward 100.000000 meters along route # Maximum depth: 1021.613921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.196016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.797555; captureRadius = 10; duration = 109; initialDepth = 969.196016; finalDepth = 969.797698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7916690000001 # Actual altitude: 51.7916690000001 # Commanded vehicle depth:969.196016 # Seafloor depth:-1020.017871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.533402 meters # Minimum depth: 1019.399559 meters looking forward 100.000000 meters along route # Maximum depth: 1022.498239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.399559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.798216; captureRadius = 10; duration = 116; initialDepth = 969.399559; finalDepth = 969.196016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.342804 # Actual altitude: 51.342804 # Commanded vehicle depth:969.399559 # Seafloor depth:-1020.742363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.895159 meters # Minimum depth: 1018.754296 meters looking forward 100.000000 meters along route # Maximum depth: 1023.374093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.754296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755758; longitude = -121.798919; captureRadius = 10; duration = 102; initialDepth = 968.754296; finalDepth = 969.399559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.471274 # Actual altitude: 52.471274 # Commanded vehicle depth:968.754296 # Seafloor depth:-1021.225570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.714746 meters # Minimum depth: 1018.767102 meters looking forward 100.000000 meters along route # Maximum depth: 1020.454684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.767102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.799539; captureRadius = 10; duration = 109; initialDepth = 968.767102; finalDepth = 968.754296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.471274 # Actual altitude: 52.471274 # Commanded vehicle depth:968.767102 # Seafloor depth:-1020.190508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.715057 meters # Minimum depth: 1018.175665 meters looking forward 100.000000 meters along route # Maximum depth: 1020.301934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.175665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.800200; captureRadius = 10; duration = 109; initialDepth = 968.175665; finalDepth = 968.767102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.423406 # Actual altitude: 51.423406 # Commanded vehicle depth:968.175665 # Seafloor depth:-1019.024411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.69; 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 = 205.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.715366 meters # Minimum depth: 1018.939167 meters looking forward 100.000000 meters along route # Maximum depth: 1022.216637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.939167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.800862; captureRadius = 10; duration = 109; initialDepth = 968.939167; finalDepth = 968.175665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.364604 # Actual altitude: 51.364604 # Commanded vehicle depth:968.939167 # Seafloor depth:-1020.303771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 118.141759 meters # Minimum depth: 1013.957907 meters looking forward 100.000000 meters along route # Maximum depth: 1019.222682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.957907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.801523; captureRadius = 10; duration = 118; initialDepth = 963.957907; finalDepth = 968.939167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.264775 # Actual altitude: 55.264775 # Commanded vehicle depth:963.957907 # Seafloor depth:-1019.222682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.289906 meters # Minimum depth: 1018.390783 meters looking forward 100.000000 meters along route # Maximum depth: 1020.380270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.390783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751600; longitude = -121.802235; captureRadius = 10; duration = 101; initialDepth = 968.390783; finalDepth = 963.957907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.264775 # Actual altitude: 55.264775 # Commanded vehicle depth:968.390783 # Seafloor depth:-1018.390783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.716298 meters # Minimum depth: 1019.787013 meters looking forward 100.000000 meters along route # Maximum depth: 1020.986569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.787013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.802846; captureRadius = 10; duration = 109; initialDepth = 969.787013; finalDepth = 968.390783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3781729999999 # Actual altitude: 50.3781729999999 # Commanded vehicle depth:969.787013 # Seafloor depth:-1020.165186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.936951 meters # Minimum depth: 1019.889182 meters looking forward 100.000000 meters along route # Maximum depth: 1023.286010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.889182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.803508; captureRadius = 10; duration = 109; initialDepth = 969.889182; finalDepth = 969.787013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.382403 # Actual altitude: 50.382403 # Commanded vehicle depth:969.889182 # Seafloor depth:-1020.271585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.496576 meters # Minimum depth: 1023.093367 meters looking forward 100.000000 meters along route # Maximum depth: 1024.010708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.093367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749174; longitude = -121.804170; captureRadius = 10; duration = 109; initialDepth = 973.093367; finalDepth = 969.889182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.382403 # Actual altitude: 50.382403 # Commanded vehicle depth:973.093367 # Seafloor depth:-1023.287421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.717229 meters # Minimum depth: 1021.397680 meters looking forward 100.000000 meters along route # Maximum depth: 1024.343136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.397680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.804830; captureRadius = 10; duration = 109; initialDepth = 971.397680; finalDepth = 973.093367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9454559999999 # Actual altitude: 52.9454559999999 # Commanded vehicle depth:971.39768 # Seafloor depth:-1024.343136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.717539 meters # Minimum depth: 1021.376287 meters looking forward 100.000000 meters along route # Maximum depth: 1023.528113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.376287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.805492; captureRadius = 10; duration = 109; initialDepth = 971.376287; finalDepth = 971.397680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9454559999999 # Actual altitude: 52.9454559999999 # Commanded vehicle depth:971.376287 # Seafloor depth:-1021.695161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.717850 meters # Minimum depth: 1020.815227 meters looking forward 100.000000 meters along route # Maximum depth: 1022.841777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.815227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.806153; captureRadius = 10; duration = 109; initialDepth = 970.815227; finalDepth = 971.376287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.830242 # Actual altitude: 50.830242 # Commanded vehicle depth:970.815227 # Seafloor depth:-1021.645469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.545251 meters # Minimum depth: 1022.382319 meters looking forward 100.000000 meters along route # Maximum depth: 1026.076921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.382319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.806815; captureRadius = 10; duration = 111; initialDepth = 972.382319; finalDepth = 970.815227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.610852 # Actual altitude: 52.610852 # Commanded vehicle depth:972.382319 # Seafloor depth:-1024.993171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.891379 meters # Minimum depth: 1022.969733 meters looking forward 100.000000 meters along route # Maximum depth: 1026.493560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.969733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745016; longitude = -121.807487; captureRadius = 10; duration = 107; initialDepth = 972.969733; finalDepth = 972.382319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7438519999999 # Actual altitude: 52.7438519999999 # Commanded vehicle depth:972.969733 # Seafloor depth:-1025.713585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.718781 meters # Minimum depth: 1022.561405 meters looking forward 100.000000 meters along route # Maximum depth: 1024.297164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.561405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.808138; captureRadius = 10; duration = 109; initialDepth = 972.561405; finalDepth = 972.969733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7438519999999 # Actual altitude: 52.7438519999999 # Commanded vehicle depth:972.561405 # Seafloor depth:-1022.561405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 210.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.719092 meters # Minimum depth: 1020.621002 meters looking forward 100.000000 meters along route # Maximum depth: 1026.076905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.621002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.808799; captureRadius = 10; duration = 109; initialDepth = 970.621002; finalDepth = 972.561405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.245571 # Actual altitude: 50.245571 # Commanded vehicle depth:970.621002 # Seafloor depth:-1020.866573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.719402 meters # Minimum depth: 1024.760135 meters looking forward 100.000000 meters along route # Maximum depth: 1027.574077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.760135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.809460; captureRadius = 10; duration = 109; initialDepth = 974.760135; finalDepth = 970.621002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.245571 # Actual altitude: 50.245571 # Commanded vehicle depth:974.760135 # Seafloor depth:-1024.760135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.153596 meters # Minimum depth: 1027.586369 meters looking forward 100.000000 meters along route # Maximum depth: 1030.058033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.586369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.810122; captureRadius = 10; duration = 113; initialDepth = 977.586369; finalDepth = 974.760135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4716639999999 # Actual altitude: 52.4716639999999 # Commanded vehicle depth:977.586369 # Seafloor depth:-1030.058033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.286138 meters # Minimum depth: 1027.343601 meters looking forward 100.000000 meters along route # Maximum depth: 1032.878166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.343601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740858; longitude = -121.810804; captureRadius = 10; duration = 106; initialDepth = 977.343601; finalDepth = 977.586369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4716639999999 # Actual altitude: 52.4716639999999 # Commanded vehicle depth:977.343601 # Seafloor depth:-1027.343601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.720333 meters # Minimum depth: 1028.964310 meters looking forward 100.000000 meters along route # Maximum depth: 1032.496489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.964310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.811445; captureRadius = 10; duration = 109; initialDepth = 978.964310; finalDepth = 977.343601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.532179 # Actual altitude: 53.532179 # Commanded vehicle depth:978.96431 # Seafloor depth:-1032.496489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.720644 meters # Minimum depth: 1029.476279 meters looking forward 100.000000 meters along route # Maximum depth: 1032.958225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.476279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.812106; captureRadius = 10; duration = 109; initialDepth = 979.476279; finalDepth = 978.964310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.532179 # Actual altitude: 53.532179 # Commanded vehicle depth:979.476279 # Seafloor depth:-1030.149447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.720954 meters # Minimum depth: 1033.095266 meters looking forward 100.000000 meters along route # Maximum depth: 1034.827387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.095266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.812768; captureRadius = 10; duration = 109; initialDepth = 983.095266; finalDepth = 979.476279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.673168 # Actual altitude: 50.673168 # Commanded vehicle depth:983.095266 # Seafloor depth:-1033.352460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.761986 meters # Minimum depth: 1026.319276 meters looking forward 100.000000 meters along route # Maximum depth: 1033.311619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.319276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.813429; captureRadius = 10; duration = 114; initialDepth = 976.319276; finalDepth = 983.095266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9923430000001 # Actual altitude: 56.9923430000001 # Commanded vehicle depth:976.319276 # Seafloor depth:-1033.311619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.680853 meters # Minimum depth: 1026.092043 meters looking forward 100.000000 meters along route # Maximum depth: 1027.696818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.092043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736699; longitude = -121.814121; captureRadius = 10; duration = 104; initialDepth = 976.092043; finalDepth = 976.319276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9923430000001 # Actual altitude: 56.9923430000001 # Commanded vehicle depth:976.092043 # Seafloor depth:-1026.092043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 124.575641 meters # Minimum depth: 1025.627417 meters looking forward 100.000000 meters along route # Maximum depth: 1029.045884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.627417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.814752; captureRadius = 10; duration = 124; initialDepth = 975.627417; finalDepth = 976.092043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.418467 # Actual altitude: 53.418467 # Commanded vehicle depth:975.627417 # Seafloor depth:-1029.045884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.67; 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 = 213.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.019004 meters # Minimum depth: 1026.516817 meters looking forward 100.000000 meters along route # Maximum depth: 1030.264106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.516817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734967; longitude = -121.815503; captureRadius = 10; duration = 107; initialDepth = 976.516817; finalDepth = 975.627417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.418467 # Actual altitude: 53.418467 # Commanded vehicle depth:976.516817 # Seafloor depth:-1026.516817 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.67; 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 = 213.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 68.456201 meters # Minimum depth: 1027.361298 meters looking forward 100.000000 meters along route # Maximum depth: 1028.239258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.361298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734158; longitude = -121.816148; captureRadius = 10; duration = 68; # abortOnTimeout = True; initialDepth = 977.361298; finalDepth = 976.516817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.87796 # Actual altitude: 50.87796 # Commanded vehicle depth:977.361298 # Seafloor depth:-1028.239258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.582755 meters # Minimum depth: 1023.947103 meters looking forward 100.000000 meters along route # Maximum depth: 1027.844023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.947103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733835; longitude = -121.815503; captureRadius = 10; duration = 107; initialDepth = 973.947103; finalDepth = 977.361298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.87796 # Actual altitude: 50.87796 # Commanded vehicle depth:973.947103 # Seafloor depth:-1023.947103 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 84.722362 meters # Minimum depth: 1024.791112 meters looking forward 100.000000 meters along route # Maximum depth: 1026.207940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.791112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733328; longitude = -121.814489; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 974.791112; finalDepth = 973.947103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8960519999998 # Actual altitude: 50.8960519999998 # Commanded vehicle depth:974.791112 # Seafloor depth:-1025.687164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.847464 meters # Minimum depth: 1025.213329 meters looking forward 100.000000 meters along route # Maximum depth: 1026.129864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.213329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.813988; captureRadius = 10; duration = 108; initialDepth = 975.213329; finalDepth = 974.791112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8960519999998 # Actual altitude: 50.8960519999998 # Commanded vehicle depth:975.213329 # Seafloor depth:-1026.069114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.847168 meters # Minimum depth: 1023.315915 meters looking forward 100.000000 meters along route # Maximum depth: 1029.240727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.315915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.813345; captureRadius = 10; duration = 108; initialDepth = 973.315915; finalDepth = 975.213329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7947849999999 # Actual altitude: 55.7947849999999 # Commanded vehicle depth:973.315915 # Seafloor depth:-1029.110700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.846872 meters # Minimum depth: 1023.874101 meters looking forward 100.000000 meters along route # Maximum depth: 1027.366991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.874101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.812701; captureRadius = 10; duration = 108; initialDepth = 973.874101; finalDepth = 973.315915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7947849999999 # Actual altitude: 55.7947849999999 # Commanded vehicle depth:973.874101 # Seafloor depth:-1023.874101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.846578 meters # Minimum depth: 1032.842840 meters looking forward 100.000000 meters along route # Maximum depth: 1034.310216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.842840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.812058; captureRadius = 10; duration = 108; initialDepth = 982.842840; finalDepth = 973.874101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.84284 # Seafloor depth:-1032.842840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 108.846281 meters # Minimum depth: 1023.574343 meters looking forward 100.000000 meters along route # Maximum depth: 1036.178775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.574343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.811414; captureRadius = 10; duration = 108; initialDepth = 973.574343; finalDepth = 982.842840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6044320000001 # Actual altitude: 62.6044320000001 # Commanded vehicle depth:973.574343 # Seafloor depth:-1036.178775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 250.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.845987 meters # Minimum depth: 1023.165193 meters looking forward 100.000000 meters along route # Maximum depth: 1025.796295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.165193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.810771; captureRadius = 10; duration = 108; initialDepth = 973.165193; finalDepth = 973.574343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6044320000001 # Actual altitude: 62.6044320000001 # Commanded vehicle depth:973.165193 # Seafloor depth:-1023.165193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 250.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.845691 meters # Minimum depth: 1026.514074 meters looking forward 100.000000 meters along route # Maximum depth: 1028.867513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.514074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.810127; captureRadius = 10; duration = 108; initialDepth = 976.514074; finalDepth = 973.165193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.353439 # Actual altitude: 52.353439 # Commanded vehicle depth:976.514074 # Seafloor depth:-1028.867513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.41; 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 = 209.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.845395 meters # Minimum depth: 1024.649274 meters looking forward 100.000000 meters along route # Maximum depth: 1028.404384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.649274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.809483; captureRadius = 10; duration = 108; initialDepth = 974.649274; finalDepth = 976.514074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.353439 # Actual altitude: 52.353439 # Commanded vehicle depth:974.649274 # Seafloor depth:-1025.639798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.41; 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 = 209.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.845100 meters # Minimum depth: 1022.807172 meters looking forward 100.000000 meters along route # Maximum depth: 1028.144985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.807172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.808840; captureRadius = 10; duration = 108; initialDepth = 972.807172; finalDepth = 974.649274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3378129999999 # Actual altitude: 55.3378129999999 # Commanded vehicle depth:972.807172 # Seafloor depth:-1028.144985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.844805 meters # Minimum depth: 1024.018660 meters looking forward 100.000000 meters along route # Maximum depth: 1026.854244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.018660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.808196; captureRadius = 10; duration = 108; initialDepth = 974.018660; finalDepth = 972.807172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3378129999999 # Actual altitude: 55.3378129999999 # Commanded vehicle depth:974.01866 # Seafloor depth:-1026.854244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.844509 meters # Minimum depth: 1023.645460 meters looking forward 100.000000 meters along route # Maximum depth: 1025.605469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.645460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.807553; captureRadius = 10; duration = 108; initialDepth = 973.645460; finalDepth = 974.018660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8355840000002 # Actual altitude: 52.8355840000002 # Commanded vehicle depth:973.64546 # Seafloor depth:-1024.595648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.844214 meters # Minimum depth: 1021.204162 meters looking forward 100.000000 meters along route # Maximum depth: 1023.529478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.204162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.806909; captureRadius = 10; duration = 108; initialDepth = 971.204162; finalDepth = 973.645460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.225162 # Actual altitude: 52.225162 # Commanded vehicle depth:971.204162 # Seafloor depth:-1023.429324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.695012 meters # Minimum depth: 1021.655102 meters looking forward 100.000000 meters along route # Maximum depth: 1024.926107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.655102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.806266; captureRadius = 10; duration = 120; initialDepth = 971.655102; finalDepth = 971.204162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3608829999999 # Actual altitude: 52.3608829999999 # Commanded vehicle depth:971.655102 # Seafloor depth:-1024.015985 # 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 1 # Segment length 109.149520 meters # Minimum depth: 1020.119909 meters looking forward 100.000000 meters along route # Maximum depth: 1022.865937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1020.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.119909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744843; longitude = -121.805552; captureRadius = 10; duration = 109; initialDepth = 970.119909; finalDepth = 971.655102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3608829999999 # Actual altitude: 52.3608829999999 # Commanded vehicle depth:970.119909 # Seafloor depth:-1022.329825 # behavior reson { duration = 6; SBP_Power = 0.0; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 52.209916 # Actual altitude: 52.209916 # Commanded vehicle depth:969.739944 # Seafloor depth:-1019.739944 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 0.0; 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 = 208.84; 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 = 208.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.63; 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: 1019.739944 meters looking forward 100.000000 meters along route # Maximum depth: 1022.865937 meters looking forward 100.000000 meters along route # Vehicle depth: 969.739944 meters behavior waypoint { latitude = 35.745675; longitude = -121.804907; captureRadius = 10; duration = 500; depth = 969.739944; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 969.739944 meters set by local depth and desired altitude behavior descend { duration = 2934; 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: 1019.739944 meters looking forward 100.000000 meters along route # Maximum depth: 1022.865937 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.745675; longitude = -121.804907; captureRadius = 10; duration = 800; depth = 150.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 211.626592; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 211.626592; 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; } # ####################################################### #######################################################