# 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: Lucia2008_1v3.rte # Mission File: Lucia2008_1v3.cfg # Distance: 85298.417312 (m) # Estimated Time: 59681 (s) 16.578 (hr) # Abort Time: 61760 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1239 (s) # Way Points: 21 # Route Points: 787 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1032.874908 (m) # Abort Vehicle Depth: 1057.874908 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.828955 35.715547 -1031.791779 0.000000 3 # 1 -121.775885 35.782160 -1005.570251 8810.692835 3 # 2 -121.785836 35.786859 -1021.251511 9850.245347 3 # 3 -121.838869 35.720422 -1041.139648 18642.573514 4 # 4 -121.840259 35.721161 -1040.412506 18792.669453 3 # 5 -121.787094 35.787588 -1022.327347 27590.557539 4 # 6 -121.788484 35.788327 -1023.931824 27740.567340 3 # 7 -121.841648 35.721899 -1044.145477 36538.472474 4 # 8 -121.843037 35.722638 -1048.678833 36688.490618 3 # 9 -121.789874 35.789066 -1029.204163 45486.319885 4 # 10 -121.791264 35.789805 -1028.118408 45636.327647 3 # 11 -121.844426 35.723377 -1047.023987 54434.081054 4 # 12 -121.845815 35.724115 -1048.881134 54584.036584 3 # 13 -121.792653 35.790544 -1033.161652 63381.856459 4 # 14 -121.794043 35.791283 -1035.080933 63531.862181 3 # 15 -121.847204 35.724854 -1053.477844 72329.606206 4 # 16 -121.848594 35.725592 -1057.874908 72479.635498 3 # 17 -121.795433 35.792022 -1031.832489 81277.445996 4 # 18 -121.796892 35.792663 -1035.896393 81427.254808 3 # 19 -121.812094 35.773591 -1050.942688 83949.905440 3 # 20 -121.799379 35.767234 -1032.694824 85298.417312 4 # # A total of 787 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61760; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1032.874908; abortDepth = 1057.874908; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1239; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 122.463554 meters # Minimum depth: 1032.694824 meters looking forward 0.000000 meters along route # Maximum depth: 1032.694824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.694824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767234; longitude = -121.799379; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 986.047813; finalDepth = 982.694824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.694824 # Seafloor depth:-1032.694824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1036.047813 meters looking forward 0.000000 meters along route # Maximum depth: 1036.047813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.047813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767557; longitude = -121.800024; captureRadius = 10; duration = 122; initialDepth = 987.471032; finalDepth = 986.047813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.047813 # Seafloor depth:-1036.047813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1037.471032 meters looking forward 0.000000 meters along route # Maximum depth: 1037.471032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.471032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768109; longitude = -121.801130; captureRadius = 10; duration = 122; initialDepth = 988.606396; finalDepth = 987.471032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.471032 # Seafloor depth:-1037.471032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1038.606396 meters looking forward 0.000000 meters along route # Maximum depth: 1038.606396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.606396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768662; longitude = -121.802235; captureRadius = 10; duration = 122; initialDepth = 990.648543; finalDepth = 988.606396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.606396 # Seafloor depth:-1038.606396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1040.648543 meters looking forward 0.000000 meters along route # Maximum depth: 1040.648543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.648543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769215; longitude = -121.803341; captureRadius = 10; duration = 122; initialDepth = 994.451906; finalDepth = 990.648543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.648543 # Seafloor depth:-1040.648543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1044.451906 meters looking forward 0.000000 meters along route # Maximum depth: 1044.451906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.451906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769768; longitude = -121.804447; captureRadius = 10; duration = 122; initialDepth = 995.652142; finalDepth = 994.451906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.451906 # Seafloor depth:-1044.451906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1045.652142 meters looking forward 0.000000 meters along route # Maximum depth: 1045.652142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.652142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770320; longitude = -121.805552; captureRadius = 10; duration = 122; initialDepth = 994.431048; finalDepth = 995.652142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.652142 # Seafloor depth:-1045.652142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1044.431048 meters looking forward 0.000000 meters along route # Maximum depth: 1044.431048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.431048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770873; longitude = -121.806658; captureRadius = 10; duration = 122; initialDepth = 997.150057; finalDepth = 994.431048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.431048 # Seafloor depth:-1044.431048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1047.150057 meters looking forward 0.000000 meters along route # Maximum depth: 1047.150057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.150057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771426; longitude = -121.807764; captureRadius = 10; duration = 122; initialDepth = 996.109118; finalDepth = 997.150057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.150057 # Seafloor depth:-1047.150057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1046.109118 meters looking forward 0.000000 meters along route # Maximum depth: 1046.109118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.109118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771979; longitude = -121.808869; captureRadius = 10; duration = 122; initialDepth = 998.179618; finalDepth = 996.109118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.109118 # Seafloor depth:-1046.109118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1048.179618 meters looking forward 0.000000 meters along route # Maximum depth: 1048.179618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.179618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772531; longitude = -121.809975; captureRadius = 10; duration = 122; initialDepth = 1000.819979; finalDepth = 998.179618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.179618 # Seafloor depth:-1048.179618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 122.463554 meters # Minimum depth: 1050.819979 meters looking forward 0.000000 meters along route # Maximum depth: 1050.819979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.819979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773084; longitude = -121.811080; captureRadius = 10; duration = 122; initialDepth = 1000.942688; finalDepth = 1000.819979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.819979 # Seafloor depth:-1050.819979 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 122.463554 meters # Minimum depth: 1050.942688 meters looking forward 0.000000 meters along route # Maximum depth: 1050.942688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.942688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773591; longitude = -121.812094; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1001.865233; finalDepth = 1000.942688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.942688 # Seafloor depth:-1050.942688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1051.865233 meters looking forward 0.000000 meters along route # Maximum depth: 1051.865233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.865233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.811506; captureRadius = 10; duration = 122; initialDepth = 1001.674126; finalDepth = 1001.865233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.865233 # Seafloor depth:-1051.865233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1051.674126 meters looking forward 0.000000 meters along route # Maximum depth: 1051.674126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.674126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775209; longitude = -121.810804; captureRadius = 10; duration = 122; initialDepth = 998.476420; finalDepth = 1001.674126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.674126 # Seafloor depth:-1051.674126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1048.476420 meters looking forward 0.000000 meters along route # Maximum depth: 1048.476420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.476420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.810184; captureRadius = 10; duration = 122; initialDepth = 995.574212; finalDepth = 998.476420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.47642 # Seafloor depth:-1048.476420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1045.574212 meters looking forward 0.000000 meters along route # Maximum depth: 1045.574212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.574212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.809523; captureRadius = 10; duration = 122; initialDepth = 996.505546; finalDepth = 995.574212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.574212 # Seafloor depth:-1045.574212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1046.505546 meters looking forward 0.000000 meters along route # Maximum depth: 1046.505546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.505546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.808862; captureRadius = 10; duration = 122; initialDepth = 998.337308; finalDepth = 996.505546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.505546 # Seafloor depth:-1046.505546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1048.337308 meters looking forward 0.000000 meters along route # Maximum depth: 1048.337308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.337308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.808201; captureRadius = 10; duration = 122; initialDepth = 1003.136831; finalDepth = 998.337308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.337308 # Seafloor depth:-1048.337308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1053.136831 meters looking forward 0.000000 meters along route # Maximum depth: 1053.136831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.136831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779371; longitude = -121.807487; captureRadius = 10; duration = 122; initialDepth = 1000.674198; finalDepth = 1003.136831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.136831 # Seafloor depth:-1053.136831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1050.674198 meters looking forward 0.000000 meters along route # Maximum depth: 1050.674198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.674198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.806880; captureRadius = 10; duration = 122; initialDepth = 995.291347; finalDepth = 1000.674198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.674198 # Seafloor depth:-1050.674198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1045.291347 meters looking forward 0.000000 meters along route # Maximum depth: 1045.291347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.291347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.806219; captureRadius = 10; duration = 122; initialDepth = 998.776434; finalDepth = 995.291347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.291347 # Seafloor depth:-1045.291347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1048.776434 meters looking forward 0.000000 meters along route # Maximum depth: 1048.776434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.776434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781798; longitude = -121.805552; captureRadius = 10; duration = 122; initialDepth = 996.569588; finalDepth = 998.776434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.776434 # Seafloor depth:-1048.776434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1046.569588 meters looking forward 0.000000 meters along route # Maximum depth: 1046.569588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.569588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.804897; captureRadius = 10; duration = 122; initialDepth = 994.912945; finalDepth = 996.569588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.569588 # Seafloor depth:-1046.569588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1044.912945 meters looking forward 0.000000 meters along route # Maximum depth: 1044.912945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.912945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.804236; captureRadius = 10; duration = 122; initialDepth = 994.602010; finalDepth = 994.912945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.912945 # Seafloor depth:-1044.912945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1044.602010 meters looking forward 0.000000 meters along route # Maximum depth: 1044.602010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.602010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.803575; captureRadius = 10; duration = 122; initialDepth = 994.567213; finalDepth = 994.602010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.60201 # Seafloor depth:-1044.602010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1044.567213 meters looking forward 0.000000 meters along route # Maximum depth: 1044.567213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.567213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.802914; captureRadius = 10; duration = 122; initialDepth = 993.120110; finalDepth = 994.567213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.567213 # Seafloor depth:-1044.567213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1043.120110 meters looking forward 0.000000 meters along route # Maximum depth: 1043.120110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.120110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785959; longitude = -121.802235; captureRadius = 10; duration = 122; initialDepth = 990.224309; finalDepth = 993.120110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.12011 # Seafloor depth:-1043.120110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1040.224309 meters looking forward 0.000000 meters along route # Maximum depth: 1040.224309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.224309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.801592; captureRadius = 10; duration = 122; initialDepth = 989.223893; finalDepth = 990.224309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.224309 # Seafloor depth:-1040.224309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1039.223893 meters looking forward 0.000000 meters along route # Maximum depth: 1039.223893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.223893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.800931; captureRadius = 10; duration = 122; initialDepth = 989.847575; finalDepth = 989.223893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.223893 # Seafloor depth:-1039.223893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1039.847575 meters looking forward 0.000000 meters along route # Maximum depth: 1039.847575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.847575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.800270; captureRadius = 10; duration = 122; initialDepth = 989.754066; finalDepth = 989.847575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.847575 # Seafloor depth:-1039.847575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1039.754066 meters looking forward 0.000000 meters along route # Maximum depth: 1039.754066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.754066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.799609; captureRadius = 10; duration = 122; initialDepth = 989.439983; finalDepth = 989.754066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.754066 # Seafloor depth:-1039.754066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1039.439983 meters looking forward 0.000000 meters along route # Maximum depth: 1039.439983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.439983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790120; longitude = -121.798919; captureRadius = 10; duration = 122; initialDepth = 990.500506; finalDepth = 989.439983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.439983 # Seafloor depth:-1039.439983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1040.500506 meters looking forward 0.000000 meters along route # Maximum depth: 1040.500506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.500506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.798287; captureRadius = 10; duration = 122; initialDepth = 986.189814; finalDepth = 990.500506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.500506 # Seafloor depth:-1040.500506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 122.463554 meters # Minimum depth: 1036.189814 meters looking forward 0.000000 meters along route # Maximum depth: 1036.189814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.189814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791854; longitude = -121.797537; captureRadius = 10; duration = 122; initialDepth = 985.896393; finalDepth = 986.189814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.189814 # Seafloor depth:-1036.189814 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 122.463554 meters # Minimum depth: 1035.896393 meters looking forward 0.000000 meters along route # Maximum depth: 1035.896393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.896393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792663; longitude = -121.796892; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 985.477240; finalDepth = 985.896393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.896393 # Seafloor depth:-1035.896393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 122.463554 meters # Minimum depth: 1035.477240 meters looking forward 0.000000 meters along route # Maximum depth: 1035.477240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.477240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792460; longitude = -121.796431; captureRadius = 10; duration = 122; initialDepth = 981.832489; finalDepth = 985.477240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.47724 # Seafloor depth:-1035.477240 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 122.463554 meters # Minimum depth: 1031.832489 meters looking forward 0.000000 meters along route # Maximum depth: 1031.832489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.832489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792022; longitude = -121.795433; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 981.809798; finalDepth = 981.832489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.832489 # Seafloor depth:-1031.832489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1031.809798 meters looking forward 0.000000 meters along route # Maximum depth: 1031.809798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.809798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.795436; captureRadius = 10; duration = 122; initialDepth = 985.664220; finalDepth = 981.809798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.809798 # Seafloor depth:-1031.809798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1035.664220 meters looking forward 0.000000 meters along route # Maximum depth: 1035.664220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.664220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791120; longitude = -121.796155; captureRadius = 10; duration = 122; initialDepth = 989.997442; finalDepth = 985.664220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.66422 # Seafloor depth:-1035.664220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1039.997442 meters looking forward 0.000000 meters along route # Maximum depth: 1039.997442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.997442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.796763; captureRadius = 10; duration = 122; initialDepth = 992.269178; finalDepth = 989.997442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.997442 # Seafloor depth:-1039.997442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1042.269178 meters looking forward 0.000000 meters along route # Maximum depth: 1042.269178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.269178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.797427; captureRadius = 10; duration = 122; initialDepth = 986.173409; finalDepth = 992.269178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.269178 # Seafloor depth:-1042.269178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1036.173409 meters looking forward 0.000000 meters along route # Maximum depth: 1036.173409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.173409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.798090; captureRadius = 10; duration = 122; initialDepth = 985.111034; finalDepth = 986.173409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.173409 # Seafloor depth:-1036.173409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1035.111034 meters looking forward 0.000000 meters along route # Maximum depth: 1035.111034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.111034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.798754; captureRadius = 10; duration = 122; initialDepth = 989.355291; finalDepth = 985.111034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.111034 # Seafloor depth:-1035.111034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1039.355291 meters looking forward 0.000000 meters along route # Maximum depth: 1039.355291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.355291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786976; longitude = -121.799471; captureRadius = 10; duration = 122; initialDepth = 987.468530; finalDepth = 989.355291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.355291 # Seafloor depth:-1039.355291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1037.468530 meters looking forward 0.000000 meters along route # Maximum depth: 1037.468530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.468530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.800081; captureRadius = 10; duration = 122; initialDepth = 991.489412; finalDepth = 987.468530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.46853 # Seafloor depth:-1037.468530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1041.489412 meters looking forward 0.000000 meters along route # Maximum depth: 1041.489412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.489412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.800745; captureRadius = 10; duration = 122; initialDepth = 994.472029; finalDepth = 991.489412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.489412 # Seafloor depth:-1041.489412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1044.472029 meters looking forward 0.000000 meters along route # Maximum depth: 1044.472029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.472029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.801408; captureRadius = 10; duration = 122; initialDepth = 994.888396; finalDepth = 994.472029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.472029 # Seafloor depth:-1044.472029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1044.888396 meters looking forward 0.000000 meters along route # Maximum depth: 1044.888396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.888396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.802072; captureRadius = 10; duration = 122; initialDepth = 991.729900; finalDepth = 994.888396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.888396 # Seafloor depth:-1044.888396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1041.729900 meters looking forward 0.000000 meters along route # Maximum depth: 1041.729900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.729900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782831; longitude = -121.802788; captureRadius = 10; duration = 122; initialDepth = 996.017316; finalDepth = 991.729900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.7299 # Seafloor depth:-1041.729900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.017316 meters looking forward 0.000000 meters along route # Maximum depth: 1046.017316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.017316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.803399; captureRadius = 10; duration = 122; initialDepth = 992.867339; finalDepth = 996.017316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.017316 # Seafloor depth:-1046.017316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1042.867339 meters looking forward 0.000000 meters along route # Maximum depth: 1042.867339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.867339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.804063; captureRadius = 10; duration = 122; initialDepth = 993.652952; finalDepth = 992.867339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.867339 # Seafloor depth:-1042.867339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1043.652952 meters looking forward 0.000000 meters along route # Maximum depth: 1043.652952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.652952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.804726; captureRadius = 10; duration = 122; initialDepth = 997.051333; finalDepth = 993.652952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.652952 # Seafloor depth:-1043.652952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.051333 meters looking forward 0.000000 meters along route # Maximum depth: 1047.051333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.051333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.805390; captureRadius = 10; duration = 122; initialDepth = 998.239135; finalDepth = 997.051333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.051333 # Seafloor depth:-1047.051333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.239135 meters looking forward 0.000000 meters along route # Maximum depth: 1048.239135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.239135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778686; longitude = -121.806105; captureRadius = 10; duration = 122; initialDepth = 997.584277; finalDepth = 998.239135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.239135 # Seafloor depth:-1048.239135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.584277 meters looking forward 0.000000 meters along route # Maximum depth: 1047.584277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.584277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.806717; captureRadius = 10; duration = 122; initialDepth = 997.002311; finalDepth = 997.584277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.584277 # Seafloor depth:-1047.584277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.002311 meters looking forward 0.000000 meters along route # Maximum depth: 1047.002311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.002311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.807380; captureRadius = 10; duration = 122; initialDepth = 995.142549; finalDepth = 997.002311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.002311 # Seafloor depth:-1047.002311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1045.142549 meters looking forward 0.000000 meters along route # Maximum depth: 1045.142549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.142549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.808044; captureRadius = 10; duration = 122; initialDepth = 996.657635; finalDepth = 995.142549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.142549 # Seafloor depth:-1045.142549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.657635 meters looking forward 0.000000 meters along route # Maximum depth: 1046.657635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.657635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.808708; captureRadius = 10; duration = 122; initialDepth = 997.756096; finalDepth = 996.657635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.657635 # Seafloor depth:-1046.657635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.756096 meters looking forward 0.000000 meters along route # Maximum depth: 1047.756096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.756096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774541; longitude = -121.809422; captureRadius = 10; duration = 122; initialDepth = 997.634106; finalDepth = 997.756096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.756096 # Seafloor depth:-1047.756096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.634106 meters looking forward 0.000000 meters along route # Maximum depth: 1047.634106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.634106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.810035; captureRadius = 10; duration = 122; initialDepth = 998.903946; finalDepth = 997.634106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.634106 # Seafloor depth:-1047.634106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.903946 meters looking forward 0.000000 meters along route # Maximum depth: 1048.903946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.903946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.810698; captureRadius = 10; duration = 122; initialDepth = 998.677992; finalDepth = 998.903946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.903946 # Seafloor depth:-1048.903946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.677992 meters looking forward 0.000000 meters along route # Maximum depth: 1048.677992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.677992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.811362; captureRadius = 10; duration = 122; initialDepth = 995.806310; finalDepth = 998.677992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.677992 # Seafloor depth:-1048.677992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1045.806310 meters looking forward 0.000000 meters along route # Maximum depth: 1045.806310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.806310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.812026; captureRadius = 10; duration = 122; initialDepth = 997.127920; finalDepth = 995.806310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.80631 # Seafloor depth:-1045.806310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.127920 meters looking forward 0.000000 meters along route # Maximum depth: 1047.127920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.127920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770397; longitude = -121.812739; captureRadius = 10; duration = 122; initialDepth = 996.000156; finalDepth = 997.127920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.12792 # Seafloor depth:-1047.127920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.000156 meters looking forward 0.000000 meters along route # Maximum depth: 1046.000156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.000156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.813353; captureRadius = 10; duration = 122; initialDepth = 1001.408853; finalDepth = 996.000156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.000156 # Seafloor depth:-1046.000156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1051.408853 meters looking forward 0.000000 meters along route # Maximum depth: 1051.408853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.408853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.814016; captureRadius = 10; duration = 122; initialDepth = 1000.545952; finalDepth = 1001.408853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.408853 # Seafloor depth:-1051.408853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1050.545952 meters looking forward 0.000000 meters along route # Maximum depth: 1050.545952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.545952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.814680; captureRadius = 10; duration = 122; initialDepth = 999.875318; finalDepth = 1000.545952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.545952 # Seafloor depth:-1050.545952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.875318 meters looking forward 0.000000 meters along route # Maximum depth: 1049.875318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.875318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.815343; captureRadius = 10; duration = 122; initialDepth = 999.276287; finalDepth = 999.875318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.875318 # Seafloor depth:-1049.875318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.276287 meters looking forward 0.000000 meters along route # Maximum depth: 1049.276287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.276287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766252; longitude = -121.816056; captureRadius = 10; duration = 122; initialDepth = 998.781776; finalDepth = 999.276287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.276287 # Seafloor depth:-1049.276287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.781776 meters looking forward 0.000000 meters along route # Maximum depth: 1048.781776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.781776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.816671; captureRadius = 10; duration = 122; initialDepth = 999.856561; finalDepth = 998.781776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.781776 # Seafloor depth:-1048.781776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.856561 meters looking forward 0.000000 meters along route # Maximum depth: 1049.856561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.856561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.817334; captureRadius = 10; duration = 122; initialDepth = 997.624869; finalDepth = 999.856561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.856561 # Seafloor depth:-1049.856561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.624869 meters looking forward 0.000000 meters along route # Maximum depth: 1047.624869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.624869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.817998; captureRadius = 10; duration = 122; initialDepth = 997.356061; finalDepth = 997.624869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.624869 # Seafloor depth:-1047.624869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.356061 meters looking forward 0.000000 meters along route # Maximum depth: 1047.356061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.356061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.818661; captureRadius = 10; duration = 122; initialDepth = 997.763656; finalDepth = 997.356061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.356061 # Seafloor depth:-1047.356061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.763656 meters looking forward 0.000000 meters along route # Maximum depth: 1047.763656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.763656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762107; longitude = -121.819373; captureRadius = 10; duration = 122; initialDepth = 998.757562; finalDepth = 997.763656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.763656 # Seafloor depth:-1047.763656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.757562 meters looking forward 0.000000 meters along route # Maximum depth: 1048.757562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.757562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.819989; captureRadius = 10; duration = 122; initialDepth = 999.687037; finalDepth = 998.757562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.757562 # Seafloor depth:-1048.757562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.687037 meters looking forward 0.000000 meters along route # Maximum depth: 1049.687037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.687037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.820652; captureRadius = 10; duration = 122; initialDepth = 996.306512; finalDepth = 999.687037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.687037 # Seafloor depth:-1049.687037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.306512 meters looking forward 0.000000 meters along route # Maximum depth: 1046.306512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.306512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.821316; captureRadius = 10; duration = 122; initialDepth = 997.772402; finalDepth = 996.306512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.306512 # Seafloor depth:-1046.306512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.772402 meters looking forward 0.000000 meters along route # Maximum depth: 1047.772402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.772402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.821979; captureRadius = 10; duration = 122; initialDepth = 996.059063; finalDepth = 997.772402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.772402 # Seafloor depth:-1047.772402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.059063 meters looking forward 0.000000 meters along route # Maximum depth: 1046.059063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.059063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757962; longitude = -121.822689; captureRadius = 10; duration = 122; initialDepth = 996.058225; finalDepth = 996.059063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.059063 # Seafloor depth:-1046.059063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.058225 meters looking forward 0.000000 meters along route # Maximum depth: 1046.058225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.058225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.823306; captureRadius = 10; duration = 122; initialDepth = 996.495665; finalDepth = 996.058225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.058225 # Seafloor depth:-1046.058225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.495665 meters looking forward 0.000000 meters along route # Maximum depth: 1046.495665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.495665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.823970; captureRadius = 10; duration = 122; initialDepth = 996.679828; finalDepth = 996.495665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.495665 # Seafloor depth:-1046.495665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.679828 meters looking forward 0.000000 meters along route # Maximum depth: 1046.679828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.679828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.824634; captureRadius = 10; duration = 122; initialDepth = 999.924622; finalDepth = 996.679828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.679828 # Seafloor depth:-1046.679828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.924622 meters looking forward 0.000000 meters along route # Maximum depth: 1049.924622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.924622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.825297; captureRadius = 10; duration = 122; initialDepth = 996.626972; finalDepth = 999.924622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.924622 # Seafloor depth:-1049.924622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.626972 meters looking forward 0.000000 meters along route # Maximum depth: 1046.626972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.626972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753818; longitude = -121.826006; captureRadius = 10; duration = 122; initialDepth = 996.436820; finalDepth = 996.626972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.626972 # Seafloor depth:-1046.626972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.436820 meters looking forward 0.000000 meters along route # Maximum depth: 1046.436820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.436820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.826624; captureRadius = 10; duration = 122; initialDepth = 996.131029; finalDepth = 996.436820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.43682 # Seafloor depth:-1046.436820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.131029 meters looking forward 0.000000 meters along route # Maximum depth: 1046.131029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.131029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.827288; captureRadius = 10; duration = 122; initialDepth = 996.322164; finalDepth = 996.131029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.131029 # Seafloor depth:-1046.131029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1046.322164 meters looking forward 0.000000 meters along route # Maximum depth: 1046.322164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.322164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.827952; captureRadius = 10; duration = 122; initialDepth = 1004.710051; finalDepth = 996.322164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.322164 # Seafloor depth:-1046.322164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1054.710051 meters looking forward 0.000000 meters along route # Maximum depth: 1054.710051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.710051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.828615; captureRadius = 10; duration = 122; initialDepth = 1003.712797; finalDepth = 1004.710051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.710051 # Seafloor depth:-1054.710051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1053.712797 meters looking forward 0.000000 meters along route # Maximum depth: 1053.712797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.712797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749673; longitude = -121.829323; captureRadius = 10; duration = 122; initialDepth = 998.845946; finalDepth = 1003.712797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.712797 # Seafloor depth:-1053.712797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.845946 meters looking forward 0.000000 meters along route # Maximum depth: 1048.845946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.845946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.829942; captureRadius = 10; duration = 122; initialDepth = 994.812745; finalDepth = 998.845946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.845946 # Seafloor depth:-1048.845946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1044.812745 meters looking forward 0.000000 meters along route # Maximum depth: 1044.812745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.812745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.830606; captureRadius = 10; duration = 122; initialDepth = 994.529724; finalDepth = 994.812745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.812745 # Seafloor depth:-1044.812745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1044.529724 meters looking forward 0.000000 meters along route # Maximum depth: 1044.529724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.529724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.831269; captureRadius = 10; duration = 122; initialDepth = 1002.750660; finalDepth = 994.529724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.529724 # Seafloor depth:-1044.529724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1052.750660 meters looking forward 0.000000 meters along route # Maximum depth: 1052.750660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.750660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.831933; captureRadius = 10; duration = 122; initialDepth = 1001.758519; finalDepth = 1002.750660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.75066 # Seafloor depth:-1052.750660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1051.758519 meters looking forward 0.000000 meters along route # Maximum depth: 1051.758519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.758519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745528; longitude = -121.832640; captureRadius = 10; duration = 122; initialDepth = 1000.284716; finalDepth = 1001.758519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.758519 # Seafloor depth:-1051.758519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1050.284716 meters looking forward 0.000000 meters along route # Maximum depth: 1050.284716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.284716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.833260; captureRadius = 10; duration = 122; initialDepth = 999.823833; finalDepth = 1000.284716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.284716 # Seafloor depth:-1050.284716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.823833 meters looking forward 0.000000 meters along route # Maximum depth: 1049.823833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.823833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.833924; captureRadius = 10; duration = 122; initialDepth = 1002.570752; finalDepth = 999.823833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.823833 # Seafloor depth:-1049.823833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1052.570752 meters looking forward 0.000000 meters along route # Maximum depth: 1052.570752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.570752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.834587; captureRadius = 10; duration = 122; initialDepth = 1000.056754; finalDepth = 1002.570752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.570752 # Seafloor depth:-1052.570752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1050.056754 meters looking forward 0.000000 meters along route # Maximum depth: 1050.056754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.056754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.835251; captureRadius = 10; duration = 122; initialDepth = 997.253868; finalDepth = 1000.056754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.056754 # Seafloor depth:-1050.056754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1047.253868 meters looking forward 0.000000 meters along route # Maximum depth: 1047.253868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.253868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741384; longitude = -121.835957; captureRadius = 10; duration = 122; initialDepth = 998.900395; finalDepth = 997.253868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.253868 # Seafloor depth:-1047.253868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.900395 meters looking forward 0.000000 meters along route # Maximum depth: 1048.900395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.900395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.836578; captureRadius = 10; duration = 122; initialDepth = 998.897215; finalDepth = 998.900395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.900395 # Seafloor depth:-1048.900395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.897215 meters looking forward 0.000000 meters along route # Maximum depth: 1048.897215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.897215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.837242; captureRadius = 10; duration = 122; initialDepth = 999.775533; finalDepth = 998.897215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.897215 # Seafloor depth:-1048.897215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.775533 meters looking forward 0.000000 meters along route # Maximum depth: 1049.775533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.775533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.837905; captureRadius = 10; duration = 122; initialDepth = 999.356270; finalDepth = 999.775533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.775533 # Seafloor depth:-1049.775533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.356270 meters looking forward 0.000000 meters along route # Maximum depth: 1049.356270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.356270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.838569; captureRadius = 10; duration = 122; initialDepth = 1000.531402; finalDepth = 999.356270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.35627 # Seafloor depth:-1049.356270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1050.531402 meters looking forward 0.000000 meters along route # Maximum depth: 1050.531402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.531402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737239; longitude = -121.839274; captureRadius = 10; duration = 122; initialDepth = 998.849527; finalDepth = 1000.531402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.531402 # Seafloor depth:-1050.531402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1048.849527 meters looking forward 0.000000 meters along route # Maximum depth: 1048.849527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.849527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.839896; captureRadius = 10; duration = 122; initialDepth = 1001.394116; finalDepth = 998.849527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.849527 # Seafloor depth:-1048.849527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1051.394116 meters looking forward 0.000000 meters along route # Maximum depth: 1051.394116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.394116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.840560; captureRadius = 10; duration = 122; initialDepth = 999.911852; finalDepth = 1001.394116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.394116 # Seafloor depth:-1051.394116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1049.911852 meters looking forward 0.000000 meters along route # Maximum depth: 1049.911852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.911852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.841223; captureRadius = 10; duration = 122; initialDepth = 1002.530889; finalDepth = 999.911852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.911852 # Seafloor depth:-1049.911852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1052.530889 meters looking forward 0.000000 meters along route # Maximum depth: 1052.530889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.530889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.841887; captureRadius = 10; duration = 122; initialDepth = 1002.525461; finalDepth = 1002.530889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.530889 # Seafloor depth:-1052.530889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1052.525461 meters looking forward 0.000000 meters along route # Maximum depth: 1052.525461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.525461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733094; longitude = -121.842590; captureRadius = 10; duration = 122; initialDepth = 1002.151693; finalDepth = 1002.525461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.525461 # Seafloor depth:-1052.525461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1052.151693 meters looking forward 0.000000 meters along route # Maximum depth: 1052.151693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.151693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.843214; captureRadius = 10; duration = 122; initialDepth = 1003.339275; finalDepth = 1002.151693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.151693 # Seafloor depth:-1052.151693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1053.339275 meters looking forward 0.000000 meters along route # Maximum depth: 1053.339275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.339275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.843877; captureRadius = 10; duration = 122; initialDepth = 1003.028230; finalDepth = 1003.339275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.339275 # Seafloor depth:-1053.339275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1053.028230 meters looking forward 0.000000 meters along route # Maximum depth: 1053.028230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.028230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.844541; captureRadius = 10; duration = 122; initialDepth = 1000.597398; finalDepth = 1003.028230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.02823 # Seafloor depth:-1053.028230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1050.597398 meters looking forward 0.000000 meters along route # Maximum depth: 1050.597398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.597398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.845205; captureRadius = 10; duration = 122; initialDepth = 1000.978512; finalDepth = 1000.597398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.597398 # Seafloor depth:-1050.597398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1050.978512 meters looking forward 0.000000 meters along route # Maximum depth: 1050.978512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.978512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728949; longitude = -121.845907; captureRadius = 10; duration = 122; initialDepth = 1003.108426; finalDepth = 1000.978512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.978512 # Seafloor depth:-1050.978512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1053.108426 meters looking forward 0.000000 meters along route # Maximum depth: 1053.108426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.108426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.846532; captureRadius = 10; duration = 122; initialDepth = 1003.016256; finalDepth = 1003.108426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.108426 # Seafloor depth:-1053.108426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1053.016256 meters looking forward 0.000000 meters along route # Maximum depth: 1053.016256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.016256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.847195; captureRadius = 10; duration = 122; initialDepth = 1005.120968; finalDepth = 1003.016256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.016256 # Seafloor depth:-1053.016256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 122.463554 meters # Minimum depth: 1055.120968 meters looking forward 0.000000 meters along route # Maximum depth: 1055.120968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.120968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.847859; captureRadius = 10; duration = 122; initialDepth = 1007.874908; finalDepth = 1005.120968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.120968 # Seafloor depth:-1055.120968 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 122.463554 meters # Minimum depth: 1057.874908 meters looking forward 0.000000 meters along route # Maximum depth: 1057.874908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.874908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725592; longitude = -121.848594; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1004.690691; finalDepth = 1007.874908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.874908 # Seafloor depth:-1057.874908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 122.463554 meters # Minimum depth: 1054.690691 meters looking forward 0.000000 meters along route # Maximum depth: 1054.690691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.690691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.848242; captureRadius = 10; duration = 122; initialDepth = 1003.477844; finalDepth = 1004.690691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.690691 # Seafloor depth:-1054.690691 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 122.463554 meters # Minimum depth: 1053.477844 meters looking forward 0.000000 meters along route # Maximum depth: 1053.477844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.477844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724854; longitude = -121.847204; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1001.983276; finalDepth = 1003.477844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.477844 # Seafloor depth:-1053.477844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1051.983276 meters looking forward 0.000000 meters along route # Maximum depth: 1051.983276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.983276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.846542; captureRadius = 10; duration = 122; initialDepth = 1003.262589; finalDepth = 1001.983276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.983276 # Seafloor depth:-1051.983276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1053.262589 meters looking forward 0.000000 meters along route # Maximum depth: 1053.262589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.262589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.845878; captureRadius = 10; duration = 122; initialDepth = 999.987605; finalDepth = 1003.262589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.262589 # Seafloor depth:-1053.262589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1049.987605 meters looking forward 0.000000 meters along route # Maximum depth: 1049.987605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.987605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.845215; captureRadius = 10; duration = 122; initialDepth = 1003.047478; finalDepth = 999.987605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.987605 # Seafloor depth:-1049.987605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1053.047478 meters looking forward 0.000000 meters along route # Maximum depth: 1053.047478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.047478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728201; longitude = -121.844525; captureRadius = 10; duration = 122; initialDepth = 1000.048612; finalDepth = 1003.047478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.047478 # Seafloor depth:-1053.047478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1050.048612 meters looking forward 0.000000 meters along route # Maximum depth: 1050.048612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.048612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.843888; captureRadius = 10; duration = 122; initialDepth = 1003.954444; finalDepth = 1000.048612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.048612 # Seafloor depth:-1050.048612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1053.954444 meters looking forward 0.000000 meters along route # Maximum depth: 1053.954444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.954444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.843224; captureRadius = 10; duration = 122; initialDepth = 999.838776; finalDepth = 1003.954444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.954444 # Seafloor depth:-1053.954444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1049.838776 meters looking forward 0.000000 meters along route # Maximum depth: 1049.838776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.838776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.842560; captureRadius = 10; duration = 122; initialDepth = 999.955271; finalDepth = 999.838776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.838776 # Seafloor depth:-1049.838776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1049.955271 meters looking forward 0.000000 meters along route # Maximum depth: 1049.955271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.955271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.841897; captureRadius = 10; duration = 122; initialDepth = 1001.441283; finalDepth = 999.955271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.955271 # Seafloor depth:-1049.955271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1051.441283 meters looking forward 0.000000 meters along route # Maximum depth: 1051.441283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.441283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732346; longitude = -121.841208; captureRadius = 10; duration = 122; initialDepth = 1000.210480; finalDepth = 1001.441283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.441283 # Seafloor depth:-1051.441283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1050.210480 meters looking forward 0.000000 meters along route # Maximum depth: 1050.210480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.210480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.840570; captureRadius = 10; duration = 122; initialDepth = 1001.069839; finalDepth = 1000.210480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.21048 # Seafloor depth:-1050.210480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1051.069839 meters looking forward 0.000000 meters along route # Maximum depth: 1051.069839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.069839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.839906; captureRadius = 10; duration = 122; initialDepth = 1000.895314; finalDepth = 1001.069839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.069839 # Seafloor depth:-1051.069839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1050.895314 meters looking forward 0.000000 meters along route # Maximum depth: 1050.895314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.895314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.839242; captureRadius = 10; duration = 122; initialDepth = 998.336904; finalDepth = 1000.895314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.895314 # Seafloor depth:-1050.895314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.336904 meters looking forward 0.000000 meters along route # Maximum depth: 1048.336904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.336904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.838579; captureRadius = 10; duration = 122; initialDepth = 997.600593; finalDepth = 998.336904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.336904 # Seafloor depth:-1048.336904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1047.600593 meters looking forward 0.000000 meters along route # Maximum depth: 1047.600593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.600593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736491; longitude = -121.837892; captureRadius = 10; duration = 122; initialDepth = 998.253632; finalDepth = 997.600593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.600593 # Seafloor depth:-1047.600593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.253632 meters looking forward 0.000000 meters along route # Maximum depth: 1048.253632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.253632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.837252; captureRadius = 10; duration = 122; initialDepth = 1001.175838; finalDepth = 998.253632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.253632 # Seafloor depth:-1048.253632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1051.175838 meters looking forward 0.000000 meters along route # Maximum depth: 1051.175838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.175838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.836588; captureRadius = 10; duration = 122; initialDepth = 999.606163; finalDepth = 1001.175838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.175838 # Seafloor depth:-1051.175838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1049.606163 meters looking forward 0.000000 meters along route # Maximum depth: 1049.606163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.606163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.835924; captureRadius = 10; duration = 122; initialDepth = 998.694661; finalDepth = 999.606163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.606163 # Seafloor depth:-1049.606163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.694661 meters looking forward 0.000000 meters along route # Maximum depth: 1048.694661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.694661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.835261; captureRadius = 10; duration = 122; initialDepth = 996.739380; finalDepth = 998.694661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.694661 # Seafloor depth:-1048.694661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.739380 meters looking forward 0.000000 meters along route # Maximum depth: 1046.739380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.739380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740635; longitude = -121.834575; captureRadius = 10; duration = 122; initialDepth = 999.445158; finalDepth = 996.739380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.73938 # Seafloor depth:-1046.739380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1049.445158 meters looking forward 0.000000 meters along route # Maximum depth: 1049.445158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.445158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.833934; captureRadius = 10; duration = 122; initialDepth = 998.732502; finalDepth = 999.445158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.445158 # Seafloor depth:-1049.445158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.732502 meters looking forward 0.000000 meters along route # Maximum depth: 1048.732502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.732502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.833270; captureRadius = 10; duration = 122; initialDepth = 998.743384; finalDepth = 998.732502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.732502 # Seafloor depth:-1048.732502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.743384 meters looking forward 0.000000 meters along route # Maximum depth: 1048.743384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.743384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.832607; captureRadius = 10; duration = 122; initialDepth = 997.825224; finalDepth = 998.743384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.743384 # Seafloor depth:-1048.743384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1047.825224 meters looking forward 0.000000 meters along route # Maximum depth: 1047.825224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.825224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.831943; captureRadius = 10; duration = 122; initialDepth = 1001.980530; finalDepth = 997.825224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.825224 # Seafloor depth:-1047.825224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1051.980530 meters looking forward 0.000000 meters along route # Maximum depth: 1051.980530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.980530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744780; longitude = -121.831258; captureRadius = 10; duration = 122; initialDepth = 998.787287; finalDepth = 1001.980530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.98053 # Seafloor depth:-1051.980530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.787287 meters looking forward 0.000000 meters along route # Maximum depth: 1048.787287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.787287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.830616; captureRadius = 10; duration = 122; initialDepth = 996.067979; finalDepth = 998.787287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.787287 # Seafloor depth:-1048.787287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.067979 meters looking forward 0.000000 meters along route # Maximum depth: 1046.067979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.067979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.829952; captureRadius = 10; duration = 122; initialDepth = 992.147657; finalDepth = 996.067979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.067979 # Seafloor depth:-1046.067979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1042.147657 meters looking forward 0.000000 meters along route # Maximum depth: 1042.147657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.147657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.829289; captureRadius = 10; duration = 122; initialDepth = 996.211763; finalDepth = 992.147657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.147657 # Seafloor depth:-1042.147657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.211763 meters looking forward 0.000000 meters along route # Maximum depth: 1046.211763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.211763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.828625; captureRadius = 10; duration = 122; initialDepth = 1000.124296; finalDepth = 996.211763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.211763 # Seafloor depth:-1046.211763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1050.124296 meters looking forward 0.000000 meters along route # Maximum depth: 1050.124296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.124296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748925; longitude = -121.827941; captureRadius = 10; duration = 122; initialDepth = 1004.531548; finalDepth = 1000.124296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.124296 # Seafloor depth:-1050.124296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1054.531548 meters looking forward 0.000000 meters along route # Maximum depth: 1054.531548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.531548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.827298; captureRadius = 10; duration = 122; initialDepth = 996.593793; finalDepth = 1004.531548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.531548 # Seafloor depth:-1054.531548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.593793 meters looking forward 0.000000 meters along route # Maximum depth: 1046.593793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.593793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.826634; captureRadius = 10; duration = 122; initialDepth = 995.549245; finalDepth = 996.593793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.593793 # Seafloor depth:-1046.593793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.549245 meters looking forward 0.000000 meters along route # Maximum depth: 1045.549245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.549245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.825971; captureRadius = 10; duration = 122; initialDepth = 994.838918; finalDepth = 995.549245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.549245 # Seafloor depth:-1045.549245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1044.838918 meters looking forward 0.000000 meters along route # Maximum depth: 1044.838918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.838918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.825307; captureRadius = 10; duration = 122; initialDepth = 994.047153; finalDepth = 994.838918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.838918 # Seafloor depth:-1044.838918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1044.047153 meters looking forward 0.000000 meters along route # Maximum depth: 1044.047153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.047153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753069; longitude = -121.824624; captureRadius = 10; duration = 122; initialDepth = 998.490541; finalDepth = 994.047153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.047153 # Seafloor depth:-1044.047153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.490541 meters looking forward 0.000000 meters along route # Maximum depth: 1048.490541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.490541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.823980; captureRadius = 10; duration = 122; initialDepth = 995.445468; finalDepth = 998.490541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.490541 # Seafloor depth:-1048.490541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.445468 meters looking forward 0.000000 meters along route # Maximum depth: 1045.445468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.445468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.823316; captureRadius = 10; duration = 122; initialDepth = 993.074845; finalDepth = 995.445468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.445468 # Seafloor depth:-1045.445468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1043.074845 meters looking forward 0.000000 meters along route # Maximum depth: 1043.074845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.074845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.822653; captureRadius = 10; duration = 122; initialDepth = 994.047189; finalDepth = 993.074845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.074845 # Seafloor depth:-1043.074845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1044.047189 meters looking forward 0.000000 meters along route # Maximum depth: 1044.047189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.047189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.821989; captureRadius = 10; duration = 122; initialDepth = 995.543145; finalDepth = 994.047189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.047189 # Seafloor depth:-1044.047189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.543145 meters looking forward 0.000000 meters along route # Maximum depth: 1045.543145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.543145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757214; longitude = -121.821307; captureRadius = 10; duration = 122; initialDepth = 996.666739; finalDepth = 995.543145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.543145 # Seafloor depth:-1045.543145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.666739 meters looking forward 0.000000 meters along route # Maximum depth: 1046.666739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.666739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.820662; captureRadius = 10; duration = 122; initialDepth = 998.031843; finalDepth = 996.666739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.666739 # Seafloor depth:-1046.666739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.031843 meters looking forward 0.000000 meters along route # Maximum depth: 1048.031843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.031843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.819998; captureRadius = 10; duration = 122; initialDepth = 999.926560; finalDepth = 998.031843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.031843 # Seafloor depth:-1048.031843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1049.926560 meters looking forward 0.000000 meters along route # Maximum depth: 1049.926560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.926560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.819335; captureRadius = 10; duration = 122; initialDepth = 993.927296; finalDepth = 999.926560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.92656 # Seafloor depth:-1049.926560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1043.927296 meters looking forward 0.000000 meters along route # Maximum depth: 1043.927296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.927296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.818671; captureRadius = 10; duration = 122; initialDepth = 993.932397; finalDepth = 993.927296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.927296 # Seafloor depth:-1043.927296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1043.932397 meters looking forward 0.000000 meters along route # Maximum depth: 1043.932397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.932397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761359; longitude = -121.817990; captureRadius = 10; duration = 122; initialDepth = 996.780090; finalDepth = 993.932397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.932397 # Seafloor depth:-1043.932397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.780090 meters looking forward 0.000000 meters along route # Maximum depth: 1046.780090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.780090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.817344; captureRadius = 10; duration = 122; initialDepth = 996.109293; finalDepth = 996.780090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.78009 # Seafloor depth:-1046.780090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.109293 meters looking forward 0.000000 meters along route # Maximum depth: 1046.109293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.109293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.816680; captureRadius = 10; duration = 122; initialDepth = 995.380844; finalDepth = 996.109293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.109293 # Seafloor depth:-1046.109293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.380844 meters looking forward 0.000000 meters along route # Maximum depth: 1045.380844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.380844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.816017; captureRadius = 10; duration = 122; initialDepth = 997.301837; finalDepth = 995.380844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.380844 # Seafloor depth:-1045.380844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1047.301837 meters looking forward 0.000000 meters along route # Maximum depth: 1047.301837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.301837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.815353; captureRadius = 10; duration = 122; initialDepth = 1000.310561; finalDepth = 997.301837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.301837 # Seafloor depth:-1047.301837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1050.310561 meters looking forward 0.000000 meters along route # Maximum depth: 1050.310561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.310561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765503; longitude = -121.814674; captureRadius = 10; duration = 122; initialDepth = 999.720660; finalDepth = 1000.310561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.310561 # Seafloor depth:-1050.310561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1049.720660 meters looking forward 0.000000 meters along route # Maximum depth: 1049.720660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.720660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.814026; captureRadius = 10; duration = 122; initialDepth = 998.381738; finalDepth = 999.720660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.72066 # Seafloor depth:-1049.720660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1048.381738 meters looking forward 0.000000 meters along route # Maximum depth: 1048.381738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.381738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.813362; captureRadius = 10; duration = 122; initialDepth = 997.169597; finalDepth = 998.381738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.381738 # Seafloor depth:-1048.381738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1047.169597 meters looking forward 0.000000 meters along route # Maximum depth: 1047.169597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.169597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.812699; captureRadius = 10; duration = 122; initialDepth = 995.629256; finalDepth = 997.169597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.169597 # Seafloor depth:-1047.169597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.629256 meters looking forward 0.000000 meters along route # Maximum depth: 1045.629256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.629256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.812035; captureRadius = 10; duration = 122; initialDepth = 996.001123; finalDepth = 995.629256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.629256 # Seafloor depth:-1045.629256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.001123 meters looking forward 0.000000 meters along route # Maximum depth: 1046.001123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.001123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769648; longitude = -121.811357; captureRadius = 10; duration = 122; initialDepth = 994.349780; finalDepth = 996.001123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.001123 # Seafloor depth:-1046.001123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1044.349780 meters looking forward 0.000000 meters along route # Maximum depth: 1044.349780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.349780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.810708; captureRadius = 10; duration = 122; initialDepth = 995.280308; finalDepth = 994.349780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.34978 # Seafloor depth:-1044.349780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.280308 meters looking forward 0.000000 meters along route # Maximum depth: 1045.280308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.280308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.810044; captureRadius = 10; duration = 122; initialDepth = 996.951299; finalDepth = 995.280308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.280308 # Seafloor depth:-1045.280308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.951299 meters looking forward 0.000000 meters along route # Maximum depth: 1046.951299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.951299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.809381; captureRadius = 10; duration = 122; initialDepth = 996.656772; finalDepth = 996.951299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.951299 # Seafloor depth:-1046.951299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1046.656772 meters looking forward 0.000000 meters along route # Maximum depth: 1046.656772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.656772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.808717; captureRadius = 10; duration = 122; initialDepth = 997.685354; finalDepth = 996.656772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.656772 # Seafloor depth:-1046.656772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1047.685354 meters looking forward 0.000000 meters along route # Maximum depth: 1047.685354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.685354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773793; longitude = -121.808040; captureRadius = 10; duration = 122; initialDepth = 994.878342; finalDepth = 997.685354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.685354 # Seafloor depth:-1047.685354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1044.878342 meters looking forward 0.000000 meters along route # Maximum depth: 1044.878342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.878342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.807390; captureRadius = 10; duration = 122; initialDepth = 992.539330; finalDepth = 994.878342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.878342 # Seafloor depth:-1044.878342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1042.539330 meters looking forward 0.000000 meters along route # Maximum depth: 1042.539330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.539330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.806726; captureRadius = 10; duration = 122; initialDepth = 994.265273; finalDepth = 992.539330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.53933 # Seafloor depth:-1042.539330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1044.265273 meters looking forward 0.000000 meters along route # Maximum depth: 1044.265273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.265273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.806063; captureRadius = 10; duration = 122; initialDepth = 995.030276; finalDepth = 994.265273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.265273 # Seafloor depth:-1044.265273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.030276 meters looking forward 0.000000 meters along route # Maximum depth: 1045.030276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.030276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.805399; captureRadius = 10; duration = 122; initialDepth = 994.810322; finalDepth = 995.030276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.030276 # Seafloor depth:-1045.030276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1044.810322 meters looking forward 0.000000 meters along route # Maximum depth: 1044.810322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.810322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777937; longitude = -121.804723; captureRadius = 10; duration = 122; initialDepth = 995.060932; finalDepth = 994.810322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.810322 # Seafloor depth:-1044.810322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.060932 meters looking forward 0.000000 meters along route # Maximum depth: 1045.060932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.060932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.804072; captureRadius = 10; duration = 122; initialDepth = 995.990880; finalDepth = 995.060932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.060932 # Seafloor depth:-1045.060932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1045.990880 meters looking forward 0.000000 meters along route # Maximum depth: 1045.990880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.990880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.803408; captureRadius = 10; duration = 122; initialDepth = 991.637204; finalDepth = 995.990880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.99088 # Seafloor depth:-1045.990880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1041.637204 meters looking forward 0.000000 meters along route # Maximum depth: 1041.637204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.637204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.802745; captureRadius = 10; duration = 122; initialDepth = 991.538457; finalDepth = 991.637204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.637204 # Seafloor depth:-1041.637204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1041.538457 meters looking forward 0.000000 meters along route # Maximum depth: 1041.538457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.538457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.802081; captureRadius = 10; duration = 122; initialDepth = 991.516811; finalDepth = 991.538457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.538457 # Seafloor depth:-1041.538457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1041.516811 meters looking forward 0.000000 meters along route # Maximum depth: 1041.516811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.516811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782082; longitude = -121.801406; captureRadius = 10; duration = 122; initialDepth = 992.701411; finalDepth = 991.516811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.516811 # Seafloor depth:-1041.516811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1042.701411 meters looking forward 0.000000 meters along route # Maximum depth: 1042.701411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.701411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.800754; captureRadius = 10; duration = 122; initialDepth = 989.286734; finalDepth = 992.701411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.701411 # Seafloor depth:-1042.701411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1039.286734 meters looking forward 0.000000 meters along route # Maximum depth: 1039.286734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.286734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.800091; captureRadius = 10; duration = 122; initialDepth = 986.547495; finalDepth = 989.286734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.286734 # Seafloor depth:-1039.286734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1036.547495 meters looking forward 0.000000 meters along route # Maximum depth: 1036.547495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.547495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.799427; captureRadius = 10; duration = 122; initialDepth = 988.357388; finalDepth = 986.547495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.547495 # Seafloor depth:-1036.547495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1038.357388 meters looking forward 0.000000 meters along route # Maximum depth: 1038.357388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.357388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.798763; captureRadius = 10; duration = 122; initialDepth = 986.406167; finalDepth = 988.357388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.357388 # Seafloor depth:-1038.357388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1036.406167 meters looking forward 0.000000 meters along route # Maximum depth: 1036.406167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.406167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786227; longitude = -121.798089; captureRadius = 10; duration = 122; initialDepth = 983.731175; finalDepth = 986.406167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.406167 # Seafloor depth:-1036.406167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1033.731175 meters looking forward 0.000000 meters along route # Maximum depth: 1033.731175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.731175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.797436; captureRadius = 10; duration = 122; initialDepth = 983.310743; finalDepth = 983.731175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.731175 # Seafloor depth:-1033.731175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1033.310743 meters looking forward 0.000000 meters along route # Maximum depth: 1033.310743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.310743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.796773; captureRadius = 10; duration = 122; initialDepth = 983.117413; finalDepth = 983.310743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.310743 # Seafloor depth:-1033.310743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1033.117413 meters looking forward 0.000000 meters along route # Maximum depth: 1033.117413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.117413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.796109; captureRadius = 10; duration = 122; initialDepth = 984.580606; finalDepth = 983.117413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.117413 # Seafloor depth:-1033.117413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1034.580606 meters looking forward 0.000000 meters along route # Maximum depth: 1034.580606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.580606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.795445; captureRadius = 10; duration = 122; initialDepth = 986.005407; finalDepth = 984.580606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.580606 # Seafloor depth:-1034.580606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.463554 meters # Minimum depth: 1036.005407 meters looking forward 0.000000 meters along route # Maximum depth: 1036.005407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.005407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790371; longitude = -121.794773; captureRadius = 10; duration = 122; initialDepth = 985.080933; finalDepth = 986.005407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.005407 # Seafloor depth:-1036.005407 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 122.463554 meters # Minimum depth: 1035.080933 meters looking forward 0.000000 meters along route # Maximum depth: 1035.080933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.080933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791283; longitude = -121.794043; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 987.330454; finalDepth = 985.080933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.080933 # Seafloor depth:-1035.080933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 122.463554 meters # Minimum depth: 1037.330454 meters looking forward 0.000000 meters along route # Maximum depth: 1037.330454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.330454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791083; longitude = -121.793667; captureRadius = 10; duration = 122; initialDepth = 983.161652; finalDepth = 987.330454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.330454 # Seafloor depth:-1037.330454 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 122.463554 meters # Minimum depth: 1033.161652 meters looking forward 0.000000 meters along route # Maximum depth: 1033.161652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.161652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790544; longitude = -121.792653; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 984.447093; finalDepth = 983.161652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.161652 # Seafloor depth:-1033.161652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1034.447093 meters looking forward 0.000000 meters along route # Maximum depth: 1034.447093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.447093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.793243; captureRadius = 10; duration = 122; initialDepth = 980.280175; finalDepth = 984.447093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.447093 # Seafloor depth:-1034.447093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1030.280175 meters looking forward 0.000000 meters along route # Maximum depth: 1030.280175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.280175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788932; longitude = -121.793943; captureRadius = 10; duration = 122; initialDepth = 983.463423; finalDepth = 980.280175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.280175 # Seafloor depth:-1030.280175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1033.463423 meters looking forward 0.000000 meters along route # Maximum depth: 1033.463423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.463423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.794570; captureRadius = 10; duration = 122; initialDepth = 984.574343; finalDepth = 983.463423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.463423 # Seafloor depth:-1033.463423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1034.574343 meters looking forward 0.000000 meters along route # Maximum depth: 1034.574343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.574343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.795234; captureRadius = 10; duration = 122; initialDepth = 984.929070; finalDepth = 984.574343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.574343 # Seafloor depth:-1034.574343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1034.929070 meters looking forward 0.000000 meters along route # Maximum depth: 1034.929070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.929070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.795897; captureRadius = 10; duration = 122; initialDepth = 984.377303; finalDepth = 984.929070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.92907 # Seafloor depth:-1034.929070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1034.377303 meters looking forward 0.000000 meters along route # Maximum depth: 1034.377303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.377303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.796561; captureRadius = 10; duration = 122; initialDepth = 983.443534; finalDepth = 984.377303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.377303 # Seafloor depth:-1034.377303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1033.443534 meters looking forward 0.000000 meters along route # Maximum depth: 1033.443534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.443534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784787; longitude = -121.797260; captureRadius = 10; duration = 122; initialDepth = 987.666375; finalDepth = 983.443534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.443534 # Seafloor depth:-1033.443534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1037.666375 meters looking forward 0.000000 meters along route # Maximum depth: 1037.666375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.666375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.797888; captureRadius = 10; duration = 122; initialDepth = 987.043331; finalDepth = 987.666375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.666375 # Seafloor depth:-1037.666375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1037.043331 meters looking forward 0.000000 meters along route # Maximum depth: 1037.043331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.043331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.798552; captureRadius = 10; duration = 122; initialDepth = 987.147294; finalDepth = 987.043331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.043331 # Seafloor depth:-1037.043331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1037.147294 meters looking forward 0.000000 meters along route # Maximum depth: 1037.147294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.147294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.799215; captureRadius = 10; duration = 122; initialDepth = 989.272468; finalDepth = 987.147294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.147294 # Seafloor depth:-1037.147294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1039.272468 meters looking forward 0.000000 meters along route # Maximum depth: 1039.272468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.272468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.799879; captureRadius = 10; duration = 122; initialDepth = 989.556224; finalDepth = 989.272468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.272468 # Seafloor depth:-1039.272468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1039.556224 meters looking forward 0.000000 meters along route # Maximum depth: 1039.556224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.556224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780642; longitude = -121.800577; captureRadius = 10; duration = 122; initialDepth = 989.390260; finalDepth = 989.556224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.556224 # Seafloor depth:-1039.556224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1039.390260 meters looking forward 0.000000 meters along route # Maximum depth: 1039.390260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.390260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.801206; captureRadius = 10; duration = 122; initialDepth = 992.538108; finalDepth = 989.390260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.39026 # Seafloor depth:-1039.390260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.538108 meters looking forward 0.000000 meters along route # Maximum depth: 1042.538108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.538108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.801870; captureRadius = 10; duration = 122; initialDepth = 994.057673; finalDepth = 992.538108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.538108 # Seafloor depth:-1042.538108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.057673 meters looking forward 0.000000 meters along route # Maximum depth: 1044.057673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.057673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.802533; captureRadius = 10; duration = 122; initialDepth = 994.592802; finalDepth = 994.057673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.057673 # Seafloor depth:-1044.057673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.592802 meters looking forward 0.000000 meters along route # Maximum depth: 1044.592802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.592802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.803197; captureRadius = 10; duration = 122; initialDepth = 991.623057; finalDepth = 994.592802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.592802 # Seafloor depth:-1044.592802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1041.623057 meters looking forward 0.000000 meters along route # Maximum depth: 1041.623057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.623057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776498; longitude = -121.803894; captureRadius = 10; duration = 122; initialDepth = 991.659455; finalDepth = 991.623057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.623057 # Seafloor depth:-1041.623057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1041.659455 meters looking forward 0.000000 meters along route # Maximum depth: 1041.659455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.659455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.804524; captureRadius = 10; duration = 122; initialDepth = 990.317683; finalDepth = 991.659455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.659455 # Seafloor depth:-1041.659455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1040.317683 meters looking forward 0.000000 meters along route # Maximum depth: 1040.317683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.317683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.805188; captureRadius = 10; duration = 122; initialDepth = 990.063927; finalDepth = 990.317683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.317683 # Seafloor depth:-1040.317683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1040.063927 meters looking forward 0.000000 meters along route # Maximum depth: 1040.063927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.063927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.805851; captureRadius = 10; duration = 122; initialDepth = 994.348615; finalDepth = 990.063927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.063927 # Seafloor depth:-1040.063927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.348615 meters looking forward 0.000000 meters along route # Maximum depth: 1044.348615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.348615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.806515; captureRadius = 10; duration = 122; initialDepth = 994.972133; finalDepth = 994.348615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.348615 # Seafloor depth:-1044.348615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.972133 meters looking forward 0.000000 meters along route # Maximum depth: 1044.972133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.972133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772353; longitude = -121.807211; captureRadius = 10; duration = 122; initialDepth = 996.962378; finalDepth = 994.972133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.972133 # Seafloor depth:-1044.972133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1046.962378 meters looking forward 0.000000 meters along route # Maximum depth: 1046.962378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.962378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.807842; captureRadius = 10; duration = 122; initialDepth = 997.258977; finalDepth = 996.962378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.962378 # Seafloor depth:-1046.962378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1047.258977 meters looking forward 0.000000 meters along route # Maximum depth: 1047.258977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.258977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.808506; captureRadius = 10; duration = 122; initialDepth = 992.761982; finalDepth = 997.258977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.258977 # Seafloor depth:-1047.258977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.761982 meters looking forward 0.000000 meters along route # Maximum depth: 1042.761982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.761982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.809169; captureRadius = 10; duration = 122; initialDepth = 992.538424; finalDepth = 992.761982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.761982 # Seafloor depth:-1042.761982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.538424 meters looking forward 0.000000 meters along route # Maximum depth: 1042.538424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.538424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.809833; captureRadius = 10; duration = 122; initialDepth = 991.432788; finalDepth = 992.538424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.538424 # Seafloor depth:-1042.538424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1041.432788 meters looking forward 0.000000 meters along route # Maximum depth: 1041.432788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.432788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768209; longitude = -121.810528; captureRadius = 10; duration = 122; initialDepth = 989.930643; finalDepth = 991.432788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.432788 # Seafloor depth:-1041.432788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1039.930643 meters looking forward 0.000000 meters along route # Maximum depth: 1039.930643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.930643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.811160; captureRadius = 10; duration = 122; initialDepth = 994.445410; finalDepth = 989.930643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.930643 # Seafloor depth:-1039.930643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.445410 meters looking forward 0.000000 meters along route # Maximum depth: 1044.445410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.445410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.811824; captureRadius = 10; duration = 122; initialDepth = 997.722776; finalDepth = 994.445410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.44541 # Seafloor depth:-1044.445410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1047.722776 meters looking forward 0.000000 meters along route # Maximum depth: 1047.722776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.722776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.812487; captureRadius = 10; duration = 122; initialDepth = 996.194187; finalDepth = 997.722776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.722776 # Seafloor depth:-1047.722776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1046.194187 meters looking forward 0.000000 meters along route # Maximum depth: 1046.194187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.194187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.813151; captureRadius = 10; duration = 122; initialDepth = 997.289834; finalDepth = 996.194187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.194187 # Seafloor depth:-1046.194187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1047.289834 meters looking forward 0.000000 meters along route # Maximum depth: 1047.289834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.289834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764064; longitude = -121.813844; captureRadius = 10; duration = 122; initialDepth = 994.140759; finalDepth = 997.289834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.289834 # Seafloor depth:-1047.289834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.140759 meters looking forward 0.000000 meters along route # Maximum depth: 1044.140759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.140759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.814478; captureRadius = 10; duration = 122; initialDepth = 990.374237; finalDepth = 994.140759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.140759 # Seafloor depth:-1044.140759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1040.374237 meters looking forward 0.000000 meters along route # Maximum depth: 1040.374237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.374237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.815142; captureRadius = 10; duration = 122; initialDepth = 991.588599; finalDepth = 990.374237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.374237 # Seafloor depth:-1040.374237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1041.588599 meters looking forward 0.000000 meters along route # Maximum depth: 1041.588599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.588599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.815805; captureRadius = 10; duration = 122; initialDepth = 991.643088; finalDepth = 991.588599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.588599 # Seafloor depth:-1041.588599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1041.643088 meters looking forward 0.000000 meters along route # Maximum depth: 1041.643088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.643088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.816469; captureRadius = 10; duration = 122; initialDepth = 990.485216; finalDepth = 991.643088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.643088 # Seafloor depth:-1041.643088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1040.485216 meters looking forward 0.000000 meters along route # Maximum depth: 1040.485216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.485216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759919; longitude = -121.817161; captureRadius = 10; duration = 122; initialDepth = 993.110490; finalDepth = 990.485216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.485216 # Seafloor depth:-1040.485216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1043.110490 meters looking forward 0.000000 meters along route # Maximum depth: 1043.110490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.110490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.817796; captureRadius = 10; duration = 122; initialDepth = 995.390715; finalDepth = 993.110490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.11049 # Seafloor depth:-1043.110490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1045.390715 meters looking forward 0.000000 meters along route # Maximum depth: 1045.390715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.390715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.818460; captureRadius = 10; duration = 122; initialDepth = 995.218165; finalDepth = 995.390715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.390715 # Seafloor depth:-1045.390715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1045.218165 meters looking forward 0.000000 meters along route # Maximum depth: 1045.218165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.218165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.819123; captureRadius = 10; duration = 122; initialDepth = 992.489538; finalDepth = 995.218165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.218165 # Seafloor depth:-1045.218165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.489538 meters looking forward 0.000000 meters along route # Maximum depth: 1042.489538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.489538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.819787; captureRadius = 10; duration = 122; initialDepth = 993.710595; finalDepth = 992.489538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.489538 # Seafloor depth:-1042.489538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1043.710595 meters looking forward 0.000000 meters along route # Maximum depth: 1043.710595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.710595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755775; longitude = -121.820478; captureRadius = 10; duration = 122; initialDepth = 990.997398; finalDepth = 993.710595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.710595 # Seafloor depth:-1043.710595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1040.997398 meters looking forward 0.000000 meters along route # Maximum depth: 1040.997398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.997398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.821114; captureRadius = 10; duration = 122; initialDepth = 992.820361; finalDepth = 990.997398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.997398 # Seafloor depth:-1040.997398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.820361 meters looking forward 0.000000 meters along route # Maximum depth: 1042.820361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.820361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.821778; captureRadius = 10; duration = 122; initialDepth = 995.942863; finalDepth = 992.820361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.820361 # Seafloor depth:-1042.820361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1045.942863 meters looking forward 0.000000 meters along route # Maximum depth: 1045.942863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.942863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.822441; captureRadius = 10; duration = 122; initialDepth = 992.441991; finalDepth = 995.942863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.942863 # Seafloor depth:-1045.942863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.441991 meters looking forward 0.000000 meters along route # Maximum depth: 1042.441991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.441991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.823105; captureRadius = 10; duration = 122; initialDepth = 992.445810; finalDepth = 992.441991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.441991 # Seafloor depth:-1042.441991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.445810 meters looking forward 0.000000 meters along route # Maximum depth: 1042.445810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.445810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751630; longitude = -121.823795; captureRadius = 10; duration = 122; initialDepth = 992.624901; finalDepth = 992.445810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.44581 # Seafloor depth:-1042.445810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1042.624901 meters looking forward 0.000000 meters along route # Maximum depth: 1042.624901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.624901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.824432; captureRadius = 10; duration = 122; initialDepth = 994.215420; finalDepth = 992.624901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.624901 # Seafloor depth:-1042.624901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.215420 meters looking forward 0.000000 meters along route # Maximum depth: 1044.215420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.215420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.825096; captureRadius = 10; duration = 122; initialDepth = 996.446926; finalDepth = 994.215420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.21542 # Seafloor depth:-1044.215420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1046.446926 meters looking forward 0.000000 meters along route # Maximum depth: 1046.446926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.446926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.825759; captureRadius = 10; duration = 122; initialDepth = 996.700095; finalDepth = 996.446926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.446926 # Seafloor depth:-1046.446926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1046.700095 meters looking forward 0.000000 meters along route # Maximum depth: 1046.700095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.700095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.826423; captureRadius = 10; duration = 122; initialDepth = 1000.803770; finalDepth = 996.700095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.700095 # Seafloor depth:-1046.700095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1050.803770 meters looking forward 0.000000 meters along route # Maximum depth: 1050.803770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.803770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747486; longitude = -121.827112; captureRadius = 10; duration = 122; initialDepth = 1001.301938; finalDepth = 1000.803770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.80377 # Seafloor depth:-1050.803770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1051.301938 meters looking forward 0.000000 meters along route # Maximum depth: 1051.301938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.301938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.827750; captureRadius = 10; duration = 122; initialDepth = 1003.564841; finalDepth = 1001.301938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.301938 # Seafloor depth:-1051.301938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1053.564841 meters looking forward 0.000000 meters along route # Maximum depth: 1053.564841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.564841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.828414; captureRadius = 10; duration = 122; initialDepth = 996.295899; finalDepth = 1003.564841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.564841 # Seafloor depth:-1053.564841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1046.295899 meters looking forward 0.000000 meters along route # Maximum depth: 1046.295899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.295899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.829077; captureRadius = 10; duration = 122; initialDepth = 999.102451; finalDepth = 996.295899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.295899 # Seafloor depth:-1046.295899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1049.102451 meters looking forward 0.000000 meters along route # Maximum depth: 1049.102451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.102451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.829741; captureRadius = 10; duration = 122; initialDepth = 994.571943; finalDepth = 999.102451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.102451 # Seafloor depth:-1049.102451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1044.571943 meters looking forward 0.000000 meters along route # Maximum depth: 1044.571943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.571943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743341; longitude = -121.830429; captureRadius = 10; duration = 122; initialDepth = 997.393972; finalDepth = 994.571943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.571943 # Seafloor depth:-1044.571943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1047.393972 meters looking forward 0.000000 meters along route # Maximum depth: 1047.393972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.393972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.831068; captureRadius = 10; duration = 122; initialDepth = 995.944994; finalDepth = 997.393972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.393972 # Seafloor depth:-1047.393972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1045.944994 meters looking forward 0.000000 meters along route # Maximum depth: 1045.944994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.944994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.831732; captureRadius = 10; duration = 122; initialDepth = 997.294061; finalDepth = 995.944994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.944994 # Seafloor depth:-1045.944994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1047.294061 meters looking forward 0.000000 meters along route # Maximum depth: 1047.294061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.294061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.832395; captureRadius = 10; duration = 122; initialDepth = 996.834225; finalDepth = 997.294061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.294061 # Seafloor depth:-1047.294061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1046.834225 meters looking forward 0.000000 meters along route # Maximum depth: 1046.834225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.834225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.833059; captureRadius = 10; duration = 122; initialDepth = 999.179334; finalDepth = 996.834225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.834225 # Seafloor depth:-1046.834225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1049.179334 meters looking forward 0.000000 meters along route # Maximum depth: 1049.179334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.179334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739197; longitude = -121.833746; captureRadius = 10; duration = 122; initialDepth = 995.912426; finalDepth = 999.179334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.179334 # Seafloor depth:-1049.179334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1045.912426 meters looking forward 0.000000 meters along route # Maximum depth: 1045.912426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.912426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.834386; captureRadius = 10; duration = 122; initialDepth = 996.685844; finalDepth = 995.912426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.912426 # Seafloor depth:-1045.912426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1046.685844 meters looking forward 0.000000 meters along route # Maximum depth: 1046.685844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.685844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.835050; captureRadius = 10; duration = 122; initialDepth = 998.266724; finalDepth = 996.685844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.685844 # Seafloor depth:-1046.685844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1048.266724 meters looking forward 0.000000 meters along route # Maximum depth: 1048.266724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.266724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.835713; captureRadius = 10; duration = 122; initialDepth = 998.542685; finalDepth = 998.266724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.266724 # Seafloor depth:-1048.266724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1048.542685 meters looking forward 0.000000 meters along route # Maximum depth: 1048.542685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.542685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.836377; captureRadius = 10; duration = 122; initialDepth = 998.410278; finalDepth = 998.542685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.542685 # Seafloor depth:-1048.542685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1048.410278 meters looking forward 0.000000 meters along route # Maximum depth: 1048.410278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.410278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735052; longitude = -121.837062; captureRadius = 10; duration = 122; initialDepth = 1007.833376; finalDepth = 998.410278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.410278 # Seafloor depth:-1048.410278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1057.833376 meters looking forward 0.000000 meters along route # Maximum depth: 1057.833376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.833376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.837704; captureRadius = 10; duration = 122; initialDepth = 1002.369603; finalDepth = 1007.833376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.833376 # Seafloor depth:-1057.833376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1052.369603 meters looking forward 0.000000 meters along route # Maximum depth: 1052.369603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.369603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.838368; captureRadius = 10; duration = 122; initialDepth = 999.076036; finalDepth = 1002.369603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.369603 # Seafloor depth:-1052.369603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1049.076036 meters looking forward 0.000000 meters along route # Maximum depth: 1049.076036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.076036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.839031; captureRadius = 10; duration = 122; initialDepth = 1000.227500; finalDepth = 999.076036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.076036 # Seafloor depth:-1049.076036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1050.227500 meters looking forward 0.000000 meters along route # Maximum depth: 1050.227500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.227500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.839695; captureRadius = 10; duration = 122; initialDepth = 1002.893892; finalDepth = 1000.227500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.2275 # Seafloor depth:-1050.227500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1052.893892 meters looking forward 0.000000 meters along route # Maximum depth: 1052.893892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.893892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730907; longitude = -121.840379; captureRadius = 10; duration = 122; initialDepth = 1001.440510; finalDepth = 1002.893892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.893892 # Seafloor depth:-1052.893892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1051.440510 meters looking forward 0.000000 meters along route # Maximum depth: 1051.440510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.440510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.841022; captureRadius = 10; duration = 122; initialDepth = 1002.021822; finalDepth = 1001.440510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.44051 # Seafloor depth:-1051.440510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1052.021822 meters looking forward 0.000000 meters along route # Maximum depth: 1052.021822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.021822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.841686; captureRadius = 10; duration = 122; initialDepth = 1000.947265; finalDepth = 1002.021822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.021822 # Seafloor depth:-1052.021822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1050.947265 meters looking forward 0.000000 meters along route # Maximum depth: 1050.947265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.947265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.842349; captureRadius = 10; duration = 122; initialDepth = 999.938359; finalDepth = 1000.947265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.947265 # Seafloor depth:-1050.947265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1049.938359 meters looking forward 0.000000 meters along route # Maximum depth: 1049.938359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.938359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.843013; captureRadius = 10; duration = 122; initialDepth = 999.212671; finalDepth = 999.938359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.938359 # Seafloor depth:-1049.938359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1049.212671 meters looking forward 0.000000 meters along route # Maximum depth: 1049.212671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.212671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726763; longitude = -121.843696; captureRadius = 10; duration = 122; initialDepth = 1001.606712; finalDepth = 999.212671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.212671 # Seafloor depth:-1049.212671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1051.606712 meters looking forward 0.000000 meters along route # Maximum depth: 1051.606712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.606712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.844340; captureRadius = 10; duration = 122; initialDepth = 1007.564465; finalDepth = 1001.606712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.606712 # Seafloor depth:-1051.606712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.463554 meters # Minimum depth: 1057.564465 meters looking forward 0.000000 meters along route # Maximum depth: 1057.564465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.564465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725036; longitude = -121.845078; captureRadius = 10; duration = 122; initialDepth = 998.881134; finalDepth = 1007.564465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.564465 # Seafloor depth:-1057.564465 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 122.463554 meters # Minimum depth: 1048.881134 meters looking forward 0.000000 meters along route # Maximum depth: 1048.881134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.881134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724115; longitude = -121.845815; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 997.183550; finalDepth = 998.881134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.881134 # Seafloor depth:-1048.881134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 122.463554 meters # Minimum depth: 1047.183550 meters looking forward 0.000000 meters along route # Maximum depth: 1047.183550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.183550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723870; longitude = -121.845354; captureRadius = 10; duration = 122; initialDepth = 997.023987; finalDepth = 997.183550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.18355 # Seafloor depth:-1047.183550 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 122.463554 meters # Minimum depth: 1047.023987 meters looking forward 0.000000 meters along route # Maximum depth: 1047.023987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.023987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723377; longitude = -121.844426; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 997.969690; finalDepth = 997.023987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.023987 # Seafloor depth:-1047.023987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1047.969690 meters looking forward 0.000000 meters along route # Maximum depth: 1047.969690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.969690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.844352; captureRadius = 10; duration = 122; initialDepth = 997.170470; finalDepth = 997.969690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.96969 # Seafloor depth:-1047.969690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1047.170470 meters looking forward 0.000000 meters along route # Maximum depth: 1047.170470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.170470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.843688; captureRadius = 10; duration = 122; initialDepth = 999.101129; finalDepth = 997.170470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.17047 # Seafloor depth:-1047.170470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1049.101129 meters looking forward 0.000000 meters along route # Maximum depth: 1049.101129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.101129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.843024; captureRadius = 10; duration = 122; initialDepth = 1001.558746; finalDepth = 999.101129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.101129 # Seafloor depth:-1049.101129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1051.558746 meters looking forward 0.000000 meters along route # Maximum depth: 1051.558746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.558746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726016; longitude = -121.842314; captureRadius = 10; duration = 122; initialDepth = 1000.365581; finalDepth = 1001.558746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.558746 # Seafloor depth:-1051.558746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1050.365581 meters looking forward 0.000000 meters along route # Maximum depth: 1050.365581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.365581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.841697; captureRadius = 10; duration = 122; initialDepth = 998.910090; finalDepth = 1000.365581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.365581 # Seafloor depth:-1050.365581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1048.910090 meters looking forward 0.000000 meters along route # Maximum depth: 1048.910090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.910090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.841033; captureRadius = 10; duration = 122; initialDepth = 997.850232; finalDepth = 998.910090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.91009 # Seafloor depth:-1048.910090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1047.850232 meters looking forward 0.000000 meters along route # Maximum depth: 1047.850232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.850232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.840370; captureRadius = 10; duration = 122; initialDepth = 999.171236; finalDepth = 997.850232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.850232 # Seafloor depth:-1047.850232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1049.171236 meters looking forward 0.000000 meters along route # Maximum depth: 1049.171236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.171236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.839706; captureRadius = 10; duration = 122; initialDepth = 1000.676602; finalDepth = 999.171236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.171236 # Seafloor depth:-1049.171236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1050.676602 meters looking forward 0.000000 meters along route # Maximum depth: 1050.676602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.676602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730161; longitude = -121.838997; captureRadius = 10; duration = 122; initialDepth = 1003.097548; finalDepth = 1000.676602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.676602 # Seafloor depth:-1050.676602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1053.097548 meters looking forward 0.000000 meters along route # Maximum depth: 1053.097548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.097548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.838379; captureRadius = 10; duration = 122; initialDepth = 1002.450565; finalDepth = 1003.097548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.097548 # Seafloor depth:-1053.097548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1052.450565 meters looking forward 0.000000 meters along route # Maximum depth: 1052.450565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.450565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.837715; captureRadius = 10; duration = 122; initialDepth = 998.103626; finalDepth = 1002.450565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.450565 # Seafloor depth:-1052.450565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1048.103626 meters looking forward 0.000000 meters along route # Maximum depth: 1048.103626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.103626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.837052; captureRadius = 10; duration = 122; initialDepth = 996.942099; finalDepth = 998.103626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.103626 # Seafloor depth:-1048.103626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1046.942099 meters looking forward 0.000000 meters along route # Maximum depth: 1046.942099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.942099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.836388; captureRadius = 10; duration = 122; initialDepth = 999.196947; finalDepth = 996.942099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.942099 # Seafloor depth:-1046.942099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1049.196947 meters looking forward 0.000000 meters along route # Maximum depth: 1049.196947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.196947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734305; longitude = -121.835680; captureRadius = 10; duration = 122; initialDepth = 995.649386; finalDepth = 999.196947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.196947 # Seafloor depth:-1049.196947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1045.649386 meters looking forward 0.000000 meters along route # Maximum depth: 1045.649386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.649386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.835061; captureRadius = 10; duration = 122; initialDepth = 997.316956; finalDepth = 995.649386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.649386 # Seafloor depth:-1045.649386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1047.316956 meters looking forward 0.000000 meters along route # Maximum depth: 1047.316956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.316956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.834397; captureRadius = 10; duration = 122; initialDepth = 997.284954; finalDepth = 997.316956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.316956 # Seafloor depth:-1047.316956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1047.284954 meters looking forward 0.000000 meters along route # Maximum depth: 1047.284954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.284954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.833734; captureRadius = 10; duration = 122; initialDepth = 994.441227; finalDepth = 997.284954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.284954 # Seafloor depth:-1047.284954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1044.441227 meters looking forward 0.000000 meters along route # Maximum depth: 1044.441227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.441227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.833070; captureRadius = 10; duration = 122; initialDepth = 993.375324; finalDepth = 994.441227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.441227 # Seafloor depth:-1044.441227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1043.375324 meters looking forward 0.000000 meters along route # Maximum depth: 1043.375324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.375324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738450; longitude = -121.832363; captureRadius = 10; duration = 122; initialDepth = 994.133575; finalDepth = 993.375324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.375324 # Seafloor depth:-1043.375324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1044.133575 meters looking forward 0.000000 meters along route # Maximum depth: 1044.133575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.133575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.831743; captureRadius = 10; duration = 122; initialDepth = 995.440108; finalDepth = 994.133575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.133575 # Seafloor depth:-1044.133575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1045.440108 meters looking forward 0.000000 meters along route # Maximum depth: 1045.440108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.440108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.831079; captureRadius = 10; duration = 122; initialDepth = 995.336803; finalDepth = 995.440108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.440108 # Seafloor depth:-1045.440108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1045.336803 meters looking forward 0.000000 meters along route # Maximum depth: 1045.336803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.336803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.830416; captureRadius = 10; duration = 122; initialDepth = 994.581217; finalDepth = 995.336803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.336803 # Seafloor depth:-1045.336803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1044.581217 meters looking forward 0.000000 meters along route # Maximum depth: 1044.581217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.581217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.829752; captureRadius = 10; duration = 122; initialDepth = 993.299630; finalDepth = 994.581217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.581217 # Seafloor depth:-1044.581217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1043.299630 meters looking forward 0.000000 meters along route # Maximum depth: 1043.299630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.299630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742594; longitude = -121.829047; captureRadius = 10; duration = 122; initialDepth = 996.892128; finalDepth = 993.299630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.29963 # Seafloor depth:-1043.299630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1046.892128 meters looking forward 0.000000 meters along route # Maximum depth: 1046.892128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.892128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.828425; captureRadius = 10; duration = 122; initialDepth = 999.220865; finalDepth = 996.892128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.892128 # Seafloor depth:-1046.892128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1049.220865 meters looking forward 0.000000 meters along route # Maximum depth: 1049.220865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.220865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.827761; captureRadius = 10; duration = 122; initialDepth = 995.617446; finalDepth = 999.220865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.220865 # Seafloor depth:-1049.220865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1045.617446 meters looking forward 0.000000 meters along route # Maximum depth: 1045.617446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.617446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.827098; captureRadius = 10; duration = 122; initialDepth = 994.310392; finalDepth = 995.617446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.617446 # Seafloor depth:-1045.617446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1044.310392 meters looking forward 0.000000 meters along route # Maximum depth: 1044.310392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.310392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.826434; captureRadius = 10; duration = 122; initialDepth = 996.745784; finalDepth = 994.310392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.310392 # Seafloor depth:-1044.310392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1046.745784 meters looking forward 0.000000 meters along route # Maximum depth: 1046.745784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.745784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746739; longitude = -121.825730; captureRadius = 10; duration = 122; initialDepth = 991.843088; finalDepth = 996.745784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.745784 # Seafloor depth:-1046.745784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.843088 meters looking forward 0.000000 meters along route # Maximum depth: 1041.843088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.843088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.825107; captureRadius = 10; duration = 122; initialDepth = 989.837646; finalDepth = 991.843088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.843088 # Seafloor depth:-1041.843088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1039.837646 meters looking forward 0.000000 meters along route # Maximum depth: 1039.837646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.837646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.824443; captureRadius = 10; duration = 122; initialDepth = 989.661305; finalDepth = 989.837646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.837646 # Seafloor depth:-1039.837646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1039.661305 meters looking forward 0.000000 meters along route # Maximum depth: 1039.661305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.661305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.823779; captureRadius = 10; duration = 122; initialDepth = 990.851512; finalDepth = 989.661305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.661305 # Seafloor depth:-1039.661305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1040.851512 meters looking forward 0.000000 meters along route # Maximum depth: 1040.851512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.851512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.823116; captureRadius = 10; duration = 122; initialDepth = 991.388133; finalDepth = 990.851512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.851512 # Seafloor depth:-1040.851512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.388133 meters looking forward 0.000000 meters along route # Maximum depth: 1041.388133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.388133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750883; longitude = -121.822413; captureRadius = 10; duration = 122; initialDepth = 989.558347; finalDepth = 991.388133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.388133 # Seafloor depth:-1041.388133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1039.558347 meters looking forward 0.000000 meters along route # Maximum depth: 1039.558347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.558347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.821789; captureRadius = 10; duration = 122; initialDepth = 989.818264; finalDepth = 989.558347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.558347 # Seafloor depth:-1039.558347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1039.818264 meters looking forward 0.000000 meters along route # Maximum depth: 1039.818264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.818264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.821125; captureRadius = 10; duration = 122; initialDepth = 990.159421; finalDepth = 989.818264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.818264 # Seafloor depth:-1039.818264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1040.159421 meters looking forward 0.000000 meters along route # Maximum depth: 1040.159421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.159421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.820461; captureRadius = 10; duration = 122; initialDepth = 990.049456; finalDepth = 990.159421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.159421 # Seafloor depth:-1040.159421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1040.049456 meters looking forward 0.000000 meters along route # Maximum depth: 1040.049456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.049456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.819798; captureRadius = 10; duration = 122; initialDepth = 991.211689; finalDepth = 990.049456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.049456 # Seafloor depth:-1040.049456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.211689 meters looking forward 0.000000 meters along route # Maximum depth: 1041.211689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.211689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755028; longitude = -121.819096; captureRadius = 10; duration = 122; initialDepth = 991.585377; finalDepth = 991.211689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.211689 # Seafloor depth:-1041.211689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.585377 meters looking forward 0.000000 meters along route # Maximum depth: 1041.585377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.585377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.818471; captureRadius = 10; duration = 122; initialDepth = 990.886838; finalDepth = 991.585377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.585377 # Seafloor depth:-1041.585377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1040.886838 meters looking forward 0.000000 meters along route # Maximum depth: 1040.886838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.886838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.817807; captureRadius = 10; duration = 122; initialDepth = 992.229771; finalDepth = 990.886838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.886838 # Seafloor depth:-1040.886838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1042.229771 meters looking forward 0.000000 meters along route # Maximum depth: 1042.229771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.229771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.817143; captureRadius = 10; duration = 122; initialDepth = 991.496757; finalDepth = 992.229771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.229771 # Seafloor depth:-1042.229771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.496757 meters looking forward 0.000000 meters along route # Maximum depth: 1041.496757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.496757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.816480; captureRadius = 10; duration = 122; initialDepth = 988.680592; finalDepth = 991.496757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.496757 # Seafloor depth:-1041.496757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1038.680592 meters looking forward 0.000000 meters along route # Maximum depth: 1038.680592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.680592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759172; longitude = -121.815779; captureRadius = 10; duration = 122; initialDepth = 987.050869; finalDepth = 988.680592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.680592 # Seafloor depth:-1038.680592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1037.050869 meters looking forward 0.000000 meters along route # Maximum depth: 1037.050869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.050869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.815153; captureRadius = 10; duration = 122; initialDepth = 988.053940; finalDepth = 987.050869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.050869 # Seafloor depth:-1037.050869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1038.053940 meters looking forward 0.000000 meters along route # Maximum depth: 1038.053940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.053940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.814489; captureRadius = 10; duration = 122; initialDepth = 989.749800; finalDepth = 988.053940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.05394 # Seafloor depth:-1038.053940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1039.749800 meters looking forward 0.000000 meters along route # Maximum depth: 1039.749800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.749800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.813825; captureRadius = 10; duration = 122; initialDepth = 992.161419; finalDepth = 989.749800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.7498 # Seafloor depth:-1039.749800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1042.161419 meters looking forward 0.000000 meters along route # Maximum depth: 1042.161419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.161419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.813162; captureRadius = 10; duration = 122; initialDepth = 991.774602; finalDepth = 992.161419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.161419 # Seafloor depth:-1042.161419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.774602 meters looking forward 0.000000 meters along route # Maximum depth: 1041.774602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.774602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763317; longitude = -121.812462; captureRadius = 10; duration = 122; initialDepth = 989.892091; finalDepth = 991.774602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.774602 # Seafloor depth:-1041.774602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1039.892091 meters looking forward 0.000000 meters along route # Maximum depth: 1039.892091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.892091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.811834; captureRadius = 10; duration = 122; initialDepth = 991.448479; finalDepth = 989.892091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.892091 # Seafloor depth:-1039.892091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.448479 meters looking forward 0.000000 meters along route # Maximum depth: 1041.448479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.448479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.811171; captureRadius = 10; duration = 122; initialDepth = 991.600296; finalDepth = 991.448479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.448479 # Seafloor depth:-1041.448479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.600296 meters looking forward 0.000000 meters along route # Maximum depth: 1041.600296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.600296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.810507; captureRadius = 10; duration = 122; initialDepth = 991.584928; finalDepth = 991.600296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.600296 # Seafloor depth:-1041.600296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.584928 meters looking forward 0.000000 meters along route # Maximum depth: 1041.584928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.584928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.809844; captureRadius = 10; duration = 122; initialDepth = 990.514515; finalDepth = 991.584928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.584928 # Seafloor depth:-1041.584928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1040.514515 meters looking forward 0.000000 meters along route # Maximum depth: 1040.514515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.514515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767461; longitude = -121.809146; captureRadius = 10; duration = 122; initialDepth = 992.212831; finalDepth = 990.514515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.514515 # Seafloor depth:-1040.514515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1042.212831 meters looking forward 0.000000 meters along route # Maximum depth: 1042.212831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.212831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.808516; captureRadius = 10; duration = 122; initialDepth = 987.017219; finalDepth = 992.212831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.212831 # Seafloor depth:-1042.212831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1037.017219 meters looking forward 0.000000 meters along route # Maximum depth: 1037.017219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.017219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.807853; captureRadius = 10; duration = 122; initialDepth = 994.704200; finalDepth = 987.017219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.017219 # Seafloor depth:-1037.017219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1044.704200 meters looking forward 0.000000 meters along route # Maximum depth: 1044.704200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.704200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.807189; captureRadius = 10; duration = 122; initialDepth = 993.499024; finalDepth = 994.704200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.7042 # Seafloor depth:-1044.704200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1043.499024 meters looking forward 0.000000 meters along route # Maximum depth: 1043.499024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.499024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.806526; captureRadius = 10; duration = 122; initialDepth = 993.626093; finalDepth = 993.499024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.499024 # Seafloor depth:-1043.499024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1043.626093 meters looking forward 0.000000 meters along route # Maximum depth: 1043.626093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.626093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771606; longitude = -121.805829; captureRadius = 10; duration = 122; initialDepth = 991.739916; finalDepth = 993.626093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.626093 # Seafloor depth:-1043.626093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.739916 meters looking forward 0.000000 meters along route # Maximum depth: 1041.739916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.739916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.805198; captureRadius = 10; duration = 122; initialDepth = 987.523014; finalDepth = 991.739916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.739916 # Seafloor depth:-1041.739916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1037.523014 meters looking forward 0.000000 meters along route # Maximum depth: 1037.523014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.523014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.804535; captureRadius = 10; duration = 122; initialDepth = 986.471965; finalDepth = 987.523014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.523014 # Seafloor depth:-1037.523014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1036.471965 meters looking forward 0.000000 meters along route # Maximum depth: 1036.471965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.471965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.803871; captureRadius = 10; duration = 122; initialDepth = 990.314797; finalDepth = 986.471965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.471965 # Seafloor depth:-1036.471965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1040.314797 meters looking forward 0.000000 meters along route # Maximum depth: 1040.314797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.314797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.803207; captureRadius = 10; duration = 122; initialDepth = 991.776791; finalDepth = 990.314797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.314797 # Seafloor depth:-1040.314797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.776791 meters looking forward 0.000000 meters along route # Maximum depth: 1041.776791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.776791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775750; longitude = -121.802512; captureRadius = 10; duration = 122; initialDepth = 991.407215; finalDepth = 991.776791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.776791 # Seafloor depth:-1041.776791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.407215 meters looking forward 0.000000 meters along route # Maximum depth: 1041.407215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.407215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.801880; captureRadius = 10; duration = 122; initialDepth = 989.703033; finalDepth = 991.407215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.407215 # Seafloor depth:-1041.407215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1039.703033 meters looking forward 0.000000 meters along route # Maximum depth: 1039.703033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.703033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.801217; captureRadius = 10; duration = 122; initialDepth = 992.444104; finalDepth = 989.703033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.703033 # Seafloor depth:-1039.703033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1042.444104 meters looking forward 0.000000 meters along route # Maximum depth: 1042.444104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.444104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.800553; captureRadius = 10; duration = 122; initialDepth = 991.745334; finalDepth = 992.444104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.444104 # Seafloor depth:-1042.444104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1041.745334 meters looking forward 0.000000 meters along route # Maximum depth: 1041.745334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.745334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.799889; captureRadius = 10; duration = 122; initialDepth = 987.745527; finalDepth = 991.745334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.745334 # Seafloor depth:-1041.745334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1037.745527 meters looking forward 0.000000 meters along route # Maximum depth: 1037.745527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.745527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779895; longitude = -121.799195; captureRadius = 10; duration = 122; initialDepth = 987.196976; finalDepth = 987.745527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.745527 # Seafloor depth:-1037.745527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1037.196976 meters looking forward 0.000000 meters along route # Maximum depth: 1037.196976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.196976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.798562; captureRadius = 10; duration = 122; initialDepth = 986.578366; finalDepth = 987.196976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.196976 # Seafloor depth:-1037.196976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1036.578366 meters looking forward 0.000000 meters along route # Maximum depth: 1036.578366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.578366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.797899; captureRadius = 10; duration = 122; initialDepth = 987.228539; finalDepth = 986.578366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.578366 # Seafloor depth:-1036.578366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1037.228539 meters looking forward 0.000000 meters along route # Maximum depth: 1037.228539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.228539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.797235; captureRadius = 10; duration = 122; initialDepth = 983.251522; finalDepth = 987.228539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.228539 # Seafloor depth:-1037.228539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1033.251522 meters looking forward 0.000000 meters along route # Maximum depth: 1033.251522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.251522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.796571; captureRadius = 10; duration = 122; initialDepth = 981.694066; finalDepth = 983.251522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.251522 # Seafloor depth:-1033.251522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1031.694066 meters looking forward 0.000000 meters along route # Maximum depth: 1031.694066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.694066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784039; longitude = -121.795878; captureRadius = 10; duration = 122; initialDepth = 982.258667; finalDepth = 981.694066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.694066 # Seafloor depth:-1031.694066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1032.258667 meters looking forward 0.000000 meters along route # Maximum depth: 1032.258667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.258667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.795244; captureRadius = 10; duration = 122; initialDepth = 983.193444; finalDepth = 982.258667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.258667 # Seafloor depth:-1032.258667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1033.193444 meters looking forward 0.000000 meters along route # Maximum depth: 1033.193444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.193444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.794580; captureRadius = 10; duration = 122; initialDepth = 979.609651; finalDepth = 983.193444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.193444 # Seafloor depth:-1033.193444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1029.609651 meters looking forward 0.000000 meters along route # Maximum depth: 1029.609651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.609651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.793917; captureRadius = 10; duration = 122; initialDepth = 978.455352; finalDepth = 979.609651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.609651 # Seafloor depth:-1029.609651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1028.455352 meters looking forward 0.000000 meters along route # Maximum depth: 1028.455352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.455352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.793253; captureRadius = 10; duration = 122; initialDepth = 979.855496; finalDepth = 978.455352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.455352 # Seafloor depth:-1028.455352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1029.855496 meters looking forward 0.000000 meters along route # Maximum depth: 1029.855496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.855496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788184; longitude = -121.792561; captureRadius = 10; duration = 122; initialDepth = 981.378741; finalDepth = 979.855496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.855496 # Seafloor depth:-1029.855496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 122.463554 meters # Minimum depth: 1031.378741 meters looking forward 0.000000 meters along route # Maximum depth: 1031.378741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.378741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.791926; captureRadius = 10; duration = 122; initialDepth = 978.118408; finalDepth = 981.378741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.378741 # Seafloor depth:-1031.378741 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 122.463554 meters # Minimum depth: 1028.118408 meters looking forward 0.000000 meters along route # Maximum depth: 1028.118408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.118408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789805; longitude = -121.791264; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 976.535514; finalDepth = 978.118408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.118408 # Seafloor depth:-1028.118408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 122.463554 meters # Minimum depth: 1026.535514 meters looking forward 0.000000 meters along route # Maximum depth: 1026.535514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.535514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789613; longitude = -121.790903; captureRadius = 10; duration = 122; initialDepth = 979.204163; finalDepth = 976.535514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.535514 # Seafloor depth:-1026.535514 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 122.463554 meters # Minimum depth: 1029.204163 meters looking forward 0.000000 meters along route # Maximum depth: 1029.204163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.204163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789066; longitude = -121.789874; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 978.633355; finalDepth = 979.204163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.204163 # Seafloor depth:-1029.204163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1028.633355 meters looking forward 0.000000 meters along route # Maximum depth: 1028.633355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.633355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.789945; captureRadius = 10; duration = 122; initialDepth = 977.205765; finalDepth = 978.633355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.633355 # Seafloor depth:-1028.633355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1027.205765 meters looking forward 0.000000 meters along route # Maximum depth: 1027.205765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.205765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788126; longitude = -121.790627; captureRadius = 10; duration = 122; initialDepth = 976.045654; finalDepth = 977.205765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.205765 # Seafloor depth:-1027.205765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1026.045654 meters looking forward 0.000000 meters along route # Maximum depth: 1026.045654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.045654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.791272; captureRadius = 10; duration = 122; initialDepth = 978.695268; finalDepth = 976.045654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.045654 # Seafloor depth:-1026.045654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1028.695268 meters looking forward 0.000000 meters along route # Maximum depth: 1028.695268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.695268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.791935; captureRadius = 10; duration = 122; initialDepth = 976.862952; finalDepth = 978.695268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.695268 # Seafloor depth:-1028.695268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1026.862952 meters looking forward 0.000000 meters along route # Maximum depth: 1026.862952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.862952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.792599; captureRadius = 10; duration = 122; initialDepth = 980.230734; finalDepth = 976.862952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.862952 # Seafloor depth:-1026.862952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1030.230734 meters looking forward 0.000000 meters along route # Maximum depth: 1030.230734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.230734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.793263; captureRadius = 10; duration = 122; initialDepth = 977.935470; finalDepth = 980.230734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.230734 # Seafloor depth:-1030.230734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1027.935470 meters looking forward 0.000000 meters along route # Maximum depth: 1027.935470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.935470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783981; longitude = -121.793943; captureRadius = 10; duration = 122; initialDepth = 980.165027; finalDepth = 977.935470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.93547 # Seafloor depth:-1027.935470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1030.165027 meters looking forward 0.000000 meters along route # Maximum depth: 1030.165027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.165027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.794590; captureRadius = 10; duration = 122; initialDepth = 982.030848; finalDepth = 980.165027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.165027 # Seafloor depth:-1030.165027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1032.030848 meters looking forward 0.000000 meters along route # Maximum depth: 1032.030848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.030848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.795254; captureRadius = 10; duration = 122; initialDepth = 981.838097; finalDepth = 982.030848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.030848 # Seafloor depth:-1032.030848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1031.838097 meters looking forward 0.000000 meters along route # Maximum depth: 1031.838097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.838097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.795917; captureRadius = 10; duration = 122; initialDepth = 983.760069; finalDepth = 981.838097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.838097 # Seafloor depth:-1031.838097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1033.760069 meters looking forward 0.000000 meters along route # Maximum depth: 1033.760069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.760069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.796581; captureRadius = 10; duration = 122; initialDepth = 985.973972; finalDepth = 983.760069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.760069 # Seafloor depth:-1033.760069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1035.973972 meters looking forward 0.000000 meters along route # Maximum depth: 1035.973972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.973972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779837; longitude = -121.797260; captureRadius = 10; duration = 122; initialDepth = 985.997941; finalDepth = 985.973972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.973972 # Seafloor depth:-1035.973972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1035.997941 meters looking forward 0.000000 meters along route # Maximum depth: 1035.997941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.997941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.797908; captureRadius = 10; duration = 122; initialDepth = 985.463221; finalDepth = 985.997941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.997941 # Seafloor depth:-1035.997941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1035.463221 meters looking forward 0.000000 meters along route # Maximum depth: 1035.463221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.463221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.798572; captureRadius = 10; duration = 122; initialDepth = 989.158134; finalDepth = 985.463221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.463221 # Seafloor depth:-1035.463221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.158134 meters looking forward 0.000000 meters along route # Maximum depth: 1039.158134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.158134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.799235; captureRadius = 10; duration = 122; initialDepth = 990.833887; finalDepth = 989.158134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.158134 # Seafloor depth:-1039.158134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1040.833887 meters looking forward 0.000000 meters along route # Maximum depth: 1040.833887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.833887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.799899; captureRadius = 10; duration = 122; initialDepth = 990.326775; finalDepth = 990.833887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.833887 # Seafloor depth:-1040.833887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1040.326775 meters looking forward 0.000000 meters along route # Maximum depth: 1040.326775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.326775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775692; longitude = -121.800577; captureRadius = 10; duration = 122; initialDepth = 989.895185; finalDepth = 990.326775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.326775 # Seafloor depth:-1040.326775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.895185 meters looking forward 0.000000 meters along route # Maximum depth: 1039.895185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.895185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.801226; captureRadius = 10; duration = 122; initialDepth = 989.457257; finalDepth = 989.895185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.895185 # Seafloor depth:-1039.895185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.457257 meters looking forward 0.000000 meters along route # Maximum depth: 1039.457257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.457257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.801890; captureRadius = 10; duration = 122; initialDepth = 984.953830; finalDepth = 989.457257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.457257 # Seafloor depth:-1039.457257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1034.953830 meters looking forward 0.000000 meters along route # Maximum depth: 1034.953830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.953830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.802553; captureRadius = 10; duration = 122; initialDepth = 988.317225; finalDepth = 984.953830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.95383 # Seafloor depth:-1034.953830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.317225 meters looking forward 0.000000 meters along route # Maximum depth: 1038.317225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.317225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.803217; captureRadius = 10; duration = 122; initialDepth = 991.376921; finalDepth = 988.317225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.317225 # Seafloor depth:-1038.317225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1041.376921 meters looking forward 0.000000 meters along route # Maximum depth: 1041.376921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.376921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771548; longitude = -121.803894; captureRadius = 10; duration = 122; initialDepth = 993.065304; finalDepth = 991.376921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.376921 # Seafloor depth:-1041.376921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1043.065304 meters looking forward 0.000000 meters along route # Maximum depth: 1043.065304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.065304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.804544; captureRadius = 10; duration = 122; initialDepth = 991.723226; finalDepth = 993.065304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.065304 # Seafloor depth:-1043.065304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1041.723226 meters looking forward 0.000000 meters along route # Maximum depth: 1041.723226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.723226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.805208; captureRadius = 10; duration = 122; initialDepth = 991.987161; finalDepth = 991.723226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.723226 # Seafloor depth:-1041.723226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1041.987161 meters looking forward 0.000000 meters along route # Maximum depth: 1041.987161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.987161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.805872; captureRadius = 10; duration = 122; initialDepth = 987.800776; finalDepth = 991.987161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.987161 # Seafloor depth:-1041.987161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1037.800776 meters looking forward 0.000000 meters along route # Maximum depth: 1037.800776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.800776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.806535; captureRadius = 10; duration = 122; initialDepth = 989.569774; finalDepth = 987.800776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.800776 # Seafloor depth:-1037.800776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.569774 meters looking forward 0.000000 meters along route # Maximum depth: 1039.569774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.569774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767403; longitude = -121.807211; captureRadius = 10; duration = 122; initialDepth = 991.539379; finalDepth = 989.569774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.569774 # Seafloor depth:-1039.569774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1041.539379 meters looking forward 0.000000 meters along route # Maximum depth: 1041.539379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.539379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.807863; captureRadius = 10; duration = 122; initialDepth = 989.067259; finalDepth = 991.539379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.539379 # Seafloor depth:-1041.539379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.067259 meters looking forward 0.000000 meters along route # Maximum depth: 1039.067259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.067259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.808526; captureRadius = 10; duration = 122; initialDepth = 989.333583; finalDepth = 989.067259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.067259 # Seafloor depth:-1039.067259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.333583 meters looking forward 0.000000 meters along route # Maximum depth: 1039.333583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.333583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.809190; captureRadius = 10; duration = 122; initialDepth = 988.399428; finalDepth = 989.333583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.333583 # Seafloor depth:-1039.333583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.399428 meters looking forward 0.000000 meters along route # Maximum depth: 1038.399428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.399428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.809853; captureRadius = 10; duration = 122; initialDepth = 983.298153; finalDepth = 988.399428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.399428 # Seafloor depth:-1038.399428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1033.298153 meters looking forward 0.000000 meters along route # Maximum depth: 1033.298153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.298153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763259; longitude = -121.810528; captureRadius = 10; duration = 122; initialDepth = 987.590771; finalDepth = 983.298153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.298153 # Seafloor depth:-1033.298153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1037.590771 meters looking forward 0.000000 meters along route # Maximum depth: 1037.590771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.590771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.811181; captureRadius = 10; duration = 122; initialDepth = 990.947099; finalDepth = 987.590771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.590771 # Seafloor depth:-1037.590771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1040.947099 meters looking forward 0.000000 meters along route # Maximum depth: 1040.947099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.947099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.811844; captureRadius = 10; duration = 122; initialDepth = 989.908147; finalDepth = 990.947099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.947099 # Seafloor depth:-1040.947099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.908147 meters looking forward 0.000000 meters along route # Maximum depth: 1039.908147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.908147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.812508; captureRadius = 10; duration = 122; initialDepth = 986.481588; finalDepth = 989.908147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.908147 # Seafloor depth:-1039.908147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1036.481588 meters looking forward 0.000000 meters along route # Maximum depth: 1036.481588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.481588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.813172; captureRadius = 10; duration = 122; initialDepth = 984.995396; finalDepth = 986.481588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.481588 # Seafloor depth:-1036.481588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1034.995396 meters looking forward 0.000000 meters along route # Maximum depth: 1034.995396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.995396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759115; longitude = -121.813844; captureRadius = 10; duration = 122; initialDepth = 988.536680; finalDepth = 984.995396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.995396 # Seafloor depth:-1034.995396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.536680 meters looking forward 0.000000 meters along route # Maximum depth: 1038.536680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.536680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.814499; captureRadius = 10; duration = 122; initialDepth = 988.042344; finalDepth = 988.536680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.53668 # Seafloor depth:-1038.536680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.042344 meters looking forward 0.000000 meters along route # Maximum depth: 1038.042344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.042344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.815162; captureRadius = 10; duration = 122; initialDepth = 988.265080; finalDepth = 988.042344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.042344 # Seafloor depth:-1038.042344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.265080 meters looking forward 0.000000 meters along route # Maximum depth: 1038.265080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.265080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.815826; captureRadius = 10; duration = 122; initialDepth = 989.346866; finalDepth = 988.265080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.26508 # Seafloor depth:-1038.265080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.346866 meters looking forward 0.000000 meters along route # Maximum depth: 1039.346866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.346866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.816490; captureRadius = 10; duration = 122; initialDepth = 990.609034; finalDepth = 989.346866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.346866 # Seafloor depth:-1039.346866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1040.609034 meters looking forward 0.000000 meters along route # Maximum depth: 1040.609034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.609034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754970; longitude = -121.817161; captureRadius = 10; duration = 122; initialDepth = 987.503659; finalDepth = 990.609034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.609034 # Seafloor depth:-1040.609034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1037.503659 meters looking forward 0.000000 meters along route # Maximum depth: 1037.503659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.503659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.817817; captureRadius = 10; duration = 122; initialDepth = 986.371554; finalDepth = 987.503659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.503659 # Seafloor depth:-1037.503659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1036.371554 meters looking forward 0.000000 meters along route # Maximum depth: 1036.371554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.371554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.818481; captureRadius = 10; duration = 122; initialDepth = 988.543683; finalDepth = 986.371554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.371554 # Seafloor depth:-1036.371554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.543683 meters looking forward 0.000000 meters along route # Maximum depth: 1038.543683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.543683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.819144; captureRadius = 10; duration = 122; initialDepth = 988.196097; finalDepth = 988.543683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.543683 # Seafloor depth:-1038.543683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.196097 meters looking forward 0.000000 meters along route # Maximum depth: 1038.196097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.196097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.819808; captureRadius = 10; duration = 122; initialDepth = 989.623921; finalDepth = 988.196097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.196097 # Seafloor depth:-1038.196097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1039.623921 meters looking forward 0.000000 meters along route # Maximum depth: 1039.623921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.623921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750826; longitude = -121.820478; captureRadius = 10; duration = 122; initialDepth = 991.629964; finalDepth = 989.623921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.623921 # Seafloor depth:-1039.623921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1041.629964 meters looking forward 0.000000 meters along route # Maximum depth: 1041.629964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.629964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.821135; captureRadius = 10; duration = 122; initialDepth = 991.253707; finalDepth = 991.629964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.629964 # Seafloor depth:-1041.629964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1041.253707 meters looking forward 0.000000 meters along route # Maximum depth: 1041.253707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.253707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.821799; captureRadius = 10; duration = 122; initialDepth = 990.246520; finalDepth = 991.253707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.253707 # Seafloor depth:-1041.253707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1040.246520 meters looking forward 0.000000 meters along route # Maximum depth: 1040.246520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.246520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.822462; captureRadius = 10; duration = 122; initialDepth = 988.490964; finalDepth = 990.246520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.24652 # Seafloor depth:-1040.246520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1038.490964 meters looking forward 0.000000 meters along route # Maximum depth: 1038.490964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.490964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.823126; captureRadius = 10; duration = 122; initialDepth = 990.956837; finalDepth = 988.490964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.490964 # Seafloor depth:-1038.490964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1040.956837 meters looking forward 0.000000 meters along route # Maximum depth: 1040.956837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.956837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746681; longitude = -121.823795; captureRadius = 10; duration = 122; initialDepth = 993.537469; finalDepth = 990.956837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.956837 # Seafloor depth:-1040.956837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1043.537469 meters looking forward 0.000000 meters along route # Maximum depth: 1043.537469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.537469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.824453; captureRadius = 10; duration = 122; initialDepth = 995.467824; finalDepth = 993.537469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.537469 # Seafloor depth:-1043.537469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1045.467824 meters looking forward 0.000000 meters along route # Maximum depth: 1045.467824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.467824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.825117; captureRadius = 10; duration = 122; initialDepth = 994.383951; finalDepth = 995.467824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.467824 # Seafloor depth:-1045.467824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1044.383951 meters looking forward 0.000000 meters along route # Maximum depth: 1044.383951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.383951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.825780; captureRadius = 10; duration = 122; initialDepth = 995.709719; finalDepth = 994.383951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.383951 # Seafloor depth:-1044.383951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1045.709719 meters looking forward 0.000000 meters along route # Maximum depth: 1045.709719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.709719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.826444; captureRadius = 10; duration = 122; initialDepth = 992.897828; finalDepth = 995.709719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.709719 # Seafloor depth:-1045.709719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1042.897828 meters looking forward 0.000000 meters along route # Maximum depth: 1042.897828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.897828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742537; longitude = -121.827112; captureRadius = 10; duration = 122; initialDepth = 992.313868; finalDepth = 992.897828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.897828 # Seafloor depth:-1042.897828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1042.313868 meters looking forward 0.000000 meters along route # Maximum depth: 1042.313868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.313868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.827771; captureRadius = 10; duration = 122; initialDepth = 991.145081; finalDepth = 992.313868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.313868 # Seafloor depth:-1042.313868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1041.145081 meters looking forward 0.000000 meters along route # Maximum depth: 1041.145081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.145081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740810; longitude = -121.828494; captureRadius = 10; duration = 122; initialDepth = 992.828920; finalDepth = 991.145081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.145081 # Seafloor depth:-1041.145081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1042.828920 meters looking forward 0.000000 meters along route # Maximum depth: 1042.828920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.828920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.829099; captureRadius = 10; duration = 122; initialDepth = 993.877190; finalDepth = 992.828920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.82892 # Seafloor depth:-1042.828920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1043.877190 meters looking forward 0.000000 meters along route # Maximum depth: 1043.877190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.877190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.829762; captureRadius = 10; duration = 122; initialDepth = 993.801291; finalDepth = 993.877190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.87719 # Seafloor depth:-1043.877190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1043.801291 meters looking forward 0.000000 meters along route # Maximum depth: 1043.801291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.801291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738392; longitude = -121.830429; captureRadius = 10; duration = 122; initialDepth = 997.413682; finalDepth = 993.801291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.801291 # Seafloor depth:-1043.801291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1047.413682 meters looking forward 0.000000 meters along route # Maximum depth: 1047.413682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.413682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.831089; captureRadius = 10; duration = 122; initialDepth = 996.233369; finalDepth = 997.413682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.413682 # Seafloor depth:-1047.413682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1046.233369 meters looking forward 0.000000 meters along route # Maximum depth: 1046.233369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.233369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736665; longitude = -121.831811; captureRadius = 10; duration = 122; initialDepth = 993.763082; finalDepth = 996.233369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.233369 # Seafloor depth:-1046.233369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1043.763082 meters looking forward 0.000000 meters along route # Maximum depth: 1043.763082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.763082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.832417; captureRadius = 10; duration = 122; initialDepth = 996.070591; finalDepth = 993.763082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.763082 # Seafloor depth:-1043.763082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1046.070591 meters looking forward 0.000000 meters along route # Maximum depth: 1046.070591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.070591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.833080; captureRadius = 10; duration = 122; initialDepth = 998.520988; finalDepth = 996.070591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.070591 # Seafloor depth:-1046.070591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1048.520988 meters looking forward 0.000000 meters along route # Maximum depth: 1048.520988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.520988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734248; longitude = -121.833746; captureRadius = 10; duration = 122; initialDepth = 998.396925; finalDepth = 998.520988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.520988 # Seafloor depth:-1048.520988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1048.396925 meters looking forward 0.000000 meters along route # Maximum depth: 1048.396925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.396925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.834408; captureRadius = 10; duration = 122; initialDepth = 998.101880; finalDepth = 998.396925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.396925 # Seafloor depth:-1048.396925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1048.101880 meters looking forward 0.000000 meters along route # Maximum depth: 1048.101880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.101880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732521; longitude = -121.835128; captureRadius = 10; duration = 122; initialDepth = 995.941231; finalDepth = 998.101880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.10188 # Seafloor depth:-1048.101880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1045.941231 meters looking forward 0.000000 meters along route # Maximum depth: 1045.941231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.941231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.835735; captureRadius = 10; duration = 122; initialDepth = 998.145966; finalDepth = 995.941231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.941231 # Seafloor depth:-1045.941231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1048.145966 meters looking forward 0.000000 meters along route # Maximum depth: 1048.145966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.145966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.836398; captureRadius = 10; duration = 122; initialDepth = 999.763925; finalDepth = 998.145966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.145966 # Seafloor depth:-1048.145966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1049.763925 meters looking forward 0.000000 meters along route # Maximum depth: 1049.763925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.763925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730103; longitude = -121.837062; captureRadius = 10; duration = 122; initialDepth = 1003.330160; finalDepth = 999.763925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.763925 # Seafloor depth:-1049.763925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1053.330160 meters looking forward 0.000000 meters along route # Maximum depth: 1053.330160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.330160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.837726; captureRadius = 10; duration = 122; initialDepth = 997.553164; finalDepth = 1003.330160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.33016 # Seafloor depth:-1053.330160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1047.553164 meters looking forward 0.000000 meters along route # Maximum depth: 1047.553164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.553164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728377; longitude = -121.838444; captureRadius = 10; duration = 122; initialDepth = 994.378105; finalDepth = 997.553164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.553164 # Seafloor depth:-1047.553164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1044.378105 meters looking forward 0.000000 meters along route # Maximum depth: 1044.378105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.378105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.839053; captureRadius = 10; duration = 122; initialDepth = 994.424500; finalDepth = 994.378105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.378105 # Seafloor depth:-1044.378105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1044.424500 meters looking forward 0.000000 meters along route # Maximum depth: 1044.424500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.424500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.839717; captureRadius = 10; duration = 122; initialDepth = 996.238288; finalDepth = 994.424500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.4245 # Seafloor depth:-1044.424500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1046.238288 meters looking forward 0.000000 meters along route # Maximum depth: 1046.238288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.238288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.840380; captureRadius = 10; duration = 122; initialDepth = 996.694283; finalDepth = 996.238288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.238288 # Seafloor depth:-1046.238288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1046.694283 meters looking forward 0.000000 meters along route # Maximum depth: 1046.694283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.694283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.841044; captureRadius = 10; duration = 122; initialDepth = 994.041990; finalDepth = 996.694283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.694283 # Seafloor depth:-1046.694283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1044.041990 meters looking forward 0.000000 meters along route # Maximum depth: 1044.041990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.041990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724232; longitude = -121.841761; captureRadius = 10; duration = 122; initialDepth = 994.635506; finalDepth = 994.041990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.04199 # Seafloor depth:-1044.041990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 122.463554 meters # Minimum depth: 1044.635506 meters looking forward 0.000000 meters along route # Maximum depth: 1044.635506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.635506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.842371; captureRadius = 10; duration = 122; initialDepth = 998.678833; finalDepth = 994.635506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.635506 # Seafloor depth:-1044.635506 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 122.463554 meters # Minimum depth: 1048.678833 meters looking forward 0.000000 meters along route # Maximum depth: 1048.678833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.678833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722638; longitude = -121.843037; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 996.080123; finalDepth = 998.678833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.678833 # Seafloor depth:-1048.678833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 122.463554 meters # Minimum depth: 1046.080123 meters looking forward 0.000000 meters along route # Maximum depth: 1046.080123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.080123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722400; longitude = -121.842590; captureRadius = 10; duration = 122; initialDepth = 994.145477; finalDepth = 996.080123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.080123 # Seafloor depth:-1046.080123 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 122.463554 meters # Minimum depth: 1044.145477 meters looking forward 0.000000 meters along route # Maximum depth: 1044.145477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.145477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721899; longitude = -121.841648; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 992.422396; finalDepth = 994.145477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.145477 # Seafloor depth:-1044.145477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1042.422396 meters looking forward 0.000000 meters along route # Maximum depth: 1042.422396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.422396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.841054; captureRadius = 10; duration = 122; initialDepth = 996.576099; finalDepth = 992.422396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.422396 # Seafloor depth:-1042.422396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1046.576099 meters looking forward 0.000000 meters along route # Maximum depth: 1046.576099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.576099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723484; longitude = -121.840379; captureRadius = 10; duration = 122; initialDepth = 993.626655; finalDepth = 996.576099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.576099 # Seafloor depth:-1046.576099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1043.626655 meters looking forward 0.000000 meters along route # Maximum depth: 1043.626655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.626655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724299; longitude = -121.839727; captureRadius = 10; duration = 122; initialDepth = 998.879674; finalDepth = 993.626655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.626655 # Seafloor depth:-1043.626655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1048.879674 meters looking forward 0.000000 meters along route # Maximum depth: 1048.879674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.879674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.839063; captureRadius = 10; duration = 122; initialDepth = 998.738270; finalDepth = 998.879674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.879674 # Seafloor depth:-1048.879674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1048.738270 meters looking forward 0.000000 meters along route # Maximum depth: 1048.738270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.738270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.838400; captureRadius = 10; duration = 122; initialDepth = 993.829532; finalDepth = 998.738270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.73827 # Seafloor depth:-1048.738270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1043.829532 meters looking forward 0.000000 meters along route # Maximum depth: 1043.829532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.829532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.837736; captureRadius = 10; duration = 122; initialDepth = 995.851077; finalDepth = 993.829532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.829532 # Seafloor depth:-1043.829532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1045.851077 meters looking forward 0.000000 meters along route # Maximum depth: 1045.851077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.851077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727629; longitude = -121.837062; captureRadius = 10; duration = 122; initialDepth = 996.058855; finalDepth = 995.851077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.851077 # Seafloor depth:-1045.851077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1046.058855 meters looking forward 0.000000 meters along route # Maximum depth: 1046.058855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.058855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.836409; captureRadius = 10; duration = 122; initialDepth = 994.761588; finalDepth = 996.058855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.058855 # Seafloor depth:-1046.058855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1044.761588 meters looking forward 0.000000 meters along route # Maximum depth: 1044.761588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.761588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.835745; captureRadius = 10; duration = 122; initialDepth = 994.127688; finalDepth = 994.761588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.761588 # Seafloor depth:-1044.761588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1044.127688 meters looking forward 0.000000 meters along route # Maximum depth: 1044.127688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.127688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.835082; captureRadius = 10; duration = 122; initialDepth = 994.170664; finalDepth = 994.127688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.127688 # Seafloor depth:-1044.127688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1044.170664 meters looking forward 0.000000 meters along route # Maximum depth: 1044.170664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.170664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.834418; captureRadius = 10; duration = 122; initialDepth = 995.905863; finalDepth = 994.170664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.170664 # Seafloor depth:-1044.170664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1045.905863 meters looking forward 0.000000 meters along route # Maximum depth: 1045.905863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.905863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731773; longitude = -121.833746; captureRadius = 10; duration = 122; initialDepth = 993.851579; finalDepth = 995.905863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.905863 # Seafloor depth:-1045.905863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1043.851579 meters looking forward 0.000000 meters along route # Maximum depth: 1043.851579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.851579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.833091; captureRadius = 10; duration = 122; initialDepth = 992.718951; finalDepth = 993.851579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.851579 # Seafloor depth:-1043.851579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1042.718951 meters looking forward 0.000000 meters along route # Maximum depth: 1042.718951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.718951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.832427; captureRadius = 10; duration = 122; initialDepth = 994.043137; finalDepth = 992.718951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.718951 # Seafloor depth:-1042.718951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1044.043137 meters looking forward 0.000000 meters along route # Maximum depth: 1044.043137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.043137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.831763; captureRadius = 10; duration = 122; initialDepth = 990.822578; finalDepth = 994.043137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.043137 # Seafloor depth:-1044.043137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1040.822578 meters looking forward 0.000000 meters along route # Maximum depth: 1040.822578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.822578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.831100; captureRadius = 10; duration = 122; initialDepth = 992.770131; finalDepth = 990.822578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.822578 # Seafloor depth:-1040.822578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1042.770131 meters looking forward 0.000000 meters along route # Maximum depth: 1042.770131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.770131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735917; longitude = -121.830429; captureRadius = 10; duration = 122; initialDepth = 993.783353; finalDepth = 992.770131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.770131 # Seafloor depth:-1042.770131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1043.783353 meters looking forward 0.000000 meters along route # Maximum depth: 1043.783353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.783353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.829772; captureRadius = 10; duration = 122; initialDepth = 992.802492; finalDepth = 993.783353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.783353 # Seafloor depth:-1043.783353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1042.802492 meters looking forward 0.000000 meters along route # Maximum depth: 1042.802492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.802492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.829109; captureRadius = 10; duration = 122; initialDepth = 990.257137; finalDepth = 992.802492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.802492 # Seafloor depth:-1042.802492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1040.257137 meters looking forward 0.000000 meters along route # Maximum depth: 1040.257137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.257137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.828445; captureRadius = 10; duration = 122; initialDepth = 995.046045; finalDepth = 990.257137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.257137 # Seafloor depth:-1040.257137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1045.046045 meters looking forward 0.000000 meters along route # Maximum depth: 1045.046045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.046045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.827781; captureRadius = 10; duration = 122; initialDepth = 990.523982; finalDepth = 995.046045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.046045 # Seafloor depth:-1045.046045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1040.523982 meters looking forward 0.000000 meters along route # Maximum depth: 1040.523982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.523982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740062; longitude = -121.827112; captureRadius = 10; duration = 122; initialDepth = 992.271528; finalDepth = 990.523982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.523982 # Seafloor depth:-1040.523982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1042.271528 meters looking forward 0.000000 meters along route # Maximum depth: 1042.271528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.271528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.826454; captureRadius = 10; duration = 122; initialDepth = 988.721112; finalDepth = 992.271528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.271528 # Seafloor depth:-1042.271528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.721112 meters looking forward 0.000000 meters along route # Maximum depth: 1038.721112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.721112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.825791; captureRadius = 10; duration = 122; initialDepth = 985.899621; finalDepth = 988.721112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.721112 # Seafloor depth:-1038.721112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1035.899621 meters looking forward 0.000000 meters along route # Maximum depth: 1035.899621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.899621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.825127; captureRadius = 10; duration = 122; initialDepth = 992.673732; finalDepth = 985.899621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.899621 # Seafloor depth:-1035.899621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1042.673732 meters looking forward 0.000000 meters along route # Maximum depth: 1042.673732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.673732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.824463; captureRadius = 10; duration = 122; initialDepth = 995.546975; finalDepth = 992.673732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.673732 # Seafloor depth:-1042.673732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1045.546975 meters looking forward 0.000000 meters along route # Maximum depth: 1045.546975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.546975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744206; longitude = -121.823795; captureRadius = 10; duration = 122; initialDepth = 990.983092; finalDepth = 995.546975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.546975 # Seafloor depth:-1045.546975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1040.983092 meters looking forward 0.000000 meters along route # Maximum depth: 1040.983092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.983092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.823136; captureRadius = 10; duration = 122; initialDepth = 987.786772; finalDepth = 990.983092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.983092 # Seafloor depth:-1040.983092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.786772 meters looking forward 0.000000 meters along route # Maximum depth: 1037.786772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.786772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.822472; captureRadius = 10; duration = 122; initialDepth = 986.699548; finalDepth = 987.786772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.786772 # Seafloor depth:-1037.786772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.699548 meters looking forward 0.000000 meters along route # Maximum depth: 1036.699548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.699548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.821809; captureRadius = 10; duration = 122; initialDepth = 987.578487; finalDepth = 986.699548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.699548 # Seafloor depth:-1036.699548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.578487 meters looking forward 0.000000 meters along route # Maximum depth: 1037.578487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.578487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.821145; captureRadius = 10; duration = 122; initialDepth = 987.545482; finalDepth = 987.578487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.578487 # Seafloor depth:-1037.578487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.545482 meters looking forward 0.000000 meters along route # Maximum depth: 1037.545482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.545482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748351; longitude = -121.820478; captureRadius = 10; duration = 122; initialDepth = 990.185548; finalDepth = 987.545482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.545482 # Seafloor depth:-1037.545482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1040.185548 meters looking forward 0.000000 meters along route # Maximum depth: 1040.185548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.185548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.819818; captureRadius = 10; duration = 122; initialDepth = 989.977165; finalDepth = 990.185548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.185548 # Seafloor depth:-1040.185548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1039.977165 meters looking forward 0.000000 meters along route # Maximum depth: 1039.977165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.977165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750077; longitude = -121.819096; captureRadius = 10; duration = 122; initialDepth = 988.420050; finalDepth = 989.977165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.977165 # Seafloor depth:-1039.977165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.420050 meters looking forward 0.000000 meters along route # Maximum depth: 1038.420050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.420050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.818491; captureRadius = 10; duration = 122; initialDepth = 986.547716; finalDepth = 988.420050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.42005 # Seafloor depth:-1038.420050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.547716 meters looking forward 0.000000 meters along route # Maximum depth: 1036.547716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.547716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.817827; captureRadius = 10; duration = 122; initialDepth = 988.149472; finalDepth = 986.547716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.547716 # Seafloor depth:-1036.547716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.149472 meters looking forward 0.000000 meters along route # Maximum depth: 1038.149472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.149472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752495; longitude = -121.817161; captureRadius = 10; duration = 122; initialDepth = 986.264372; finalDepth = 988.149472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.149472 # Seafloor depth:-1038.149472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.264372 meters looking forward 0.000000 meters along route # Maximum depth: 1036.264372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.264372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.816500; captureRadius = 10; duration = 122; initialDepth = 987.295162; finalDepth = 986.264372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.264372 # Seafloor depth:-1036.264372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.295162 meters looking forward 0.000000 meters along route # Maximum depth: 1037.295162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.295162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754222; longitude = -121.815779; captureRadius = 10; duration = 122; initialDepth = 984.799513; finalDepth = 987.295162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.295162 # Seafloor depth:-1037.295162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1034.799513 meters looking forward 0.000000 meters along route # Maximum depth: 1034.799513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.799513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.815172; captureRadius = 10; duration = 122; initialDepth = 985.839933; finalDepth = 984.799513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.799513 # Seafloor depth:-1034.799513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1035.839933 meters looking forward 0.000000 meters along route # Maximum depth: 1035.839933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.839933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.814509; captureRadius = 10; duration = 122; initialDepth = 988.669343; finalDepth = 985.839933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.839933 # Seafloor depth:-1035.839933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.669343 meters looking forward 0.000000 meters along route # Maximum depth: 1038.669343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.669343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.813844; captureRadius = 10; duration = 122; initialDepth = 986.596057; finalDepth = 988.669343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.669343 # Seafloor depth:-1038.669343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.596057 meters looking forward 0.000000 meters along route # Maximum depth: 1036.596057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.596057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.813181; captureRadius = 10; duration = 122; initialDepth = 984.290693; finalDepth = 986.596057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.596057 # Seafloor depth:-1036.596057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1034.290693 meters looking forward 0.000000 meters along route # Maximum depth: 1034.290693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.290693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758366; longitude = -121.812462; captureRadius = 10; duration = 122; initialDepth = 983.613258; finalDepth = 984.290693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.290693 # Seafloor depth:-1034.290693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1033.613258 meters looking forward 0.000000 meters along route # Maximum depth: 1033.613258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.613258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.811854; captureRadius = 10; duration = 122; initialDepth = 987.578594; finalDepth = 983.613258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.613258 # Seafloor depth:-1033.613258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.578594 meters looking forward 0.000000 meters along route # Maximum depth: 1037.578594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.578594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.811191; captureRadius = 10; duration = 122; initialDepth = 987.537691; finalDepth = 987.578594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.578594 # Seafloor depth:-1037.578594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.537691 meters looking forward 0.000000 meters along route # Maximum depth: 1037.537691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.537691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.810527; captureRadius = 10; duration = 122; initialDepth = 988.009262; finalDepth = 987.537691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.537691 # Seafloor depth:-1037.537691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.009262 meters looking forward 0.000000 meters along route # Maximum depth: 1038.009262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.009262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.809863; captureRadius = 10; duration = 122; initialDepth = 986.457151; finalDepth = 988.009262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.009262 # Seafloor depth:-1038.009262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.457151 meters looking forward 0.000000 meters along route # Maximum depth: 1036.457151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.457151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762511; longitude = -121.809146; captureRadius = 10; duration = 122; initialDepth = 983.919773; finalDepth = 986.457151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.457151 # Seafloor depth:-1036.457151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1033.919773 meters looking forward 0.000000 meters along route # Maximum depth: 1033.919773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.919773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.808536; captureRadius = 10; duration = 122; initialDepth = 988.039593; finalDepth = 983.919773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.919773 # Seafloor depth:-1033.919773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.039593 meters looking forward 0.000000 meters along route # Maximum depth: 1038.039593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.039593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.807872; captureRadius = 10; duration = 122; initialDepth = 987.118484; finalDepth = 988.039593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.039593 # Seafloor depth:-1038.039593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.118484 meters looking forward 0.000000 meters along route # Maximum depth: 1037.118484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.118484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.807209; captureRadius = 10; duration = 122; initialDepth = 986.700964; finalDepth = 987.118484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.118484 # Seafloor depth:-1037.118484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.700964 meters looking forward 0.000000 meters along route # Maximum depth: 1036.700964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.700964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.806545; captureRadius = 10; duration = 122; initialDepth = 984.844727; finalDepth = 986.700964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.700964 # Seafloor depth:-1036.700964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1034.844727 meters looking forward 0.000000 meters along route # Maximum depth: 1034.844727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.844727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766655; longitude = -121.805829; captureRadius = 10; duration = 122; initialDepth = 988.312476; finalDepth = 984.844727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.844727 # Seafloor depth:-1034.844727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.312476 meters looking forward 0.000000 meters along route # Maximum depth: 1038.312476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.312476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.805218; captureRadius = 10; duration = 122; initialDepth = 992.330571; finalDepth = 988.312476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.312476 # Seafloor depth:-1038.312476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1042.330571 meters looking forward 0.000000 meters along route # Maximum depth: 1042.330571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.330571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.804554; captureRadius = 10; duration = 122; initialDepth = 987.669722; finalDepth = 992.330571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.330571 # Seafloor depth:-1042.330571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.669722 meters looking forward 0.000000 meters along route # Maximum depth: 1037.669722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.669722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.803890; captureRadius = 10; duration = 122; initialDepth = 990.779868; finalDepth = 987.669722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.669722 # Seafloor depth:-1037.669722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1040.779868 meters looking forward 0.000000 meters along route # Maximum depth: 1040.779868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.779868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.803227; captureRadius = 10; duration = 122; initialDepth = 984.041447; finalDepth = 990.779868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.779868 # Seafloor depth:-1040.779868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1034.041447 meters looking forward 0.000000 meters along route # Maximum depth: 1034.041447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.041447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770799; longitude = -121.802512; captureRadius = 10; duration = 122; initialDepth = 985.068037; finalDepth = 984.041447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.041447 # Seafloor depth:-1034.041447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1035.068037 meters looking forward 0.000000 meters along route # Maximum depth: 1035.068037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.068037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.801900; captureRadius = 10; duration = 122; initialDepth = 987.121597; finalDepth = 985.068037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.068037 # Seafloor depth:-1035.068037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.121597 meters looking forward 0.000000 meters along route # Maximum depth: 1037.121597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.121597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.801236; captureRadius = 10; duration = 122; initialDepth = 987.915410; finalDepth = 987.121597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.121597 # Seafloor depth:-1037.121597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.915410 meters looking forward 0.000000 meters along route # Maximum depth: 1037.915410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.915410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.800572; captureRadius = 10; duration = 122; initialDepth = 991.165216; finalDepth = 987.915410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.91541 # Seafloor depth:-1037.915410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1041.165216 meters looking forward 0.000000 meters along route # Maximum depth: 1041.165216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.165216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.799909; captureRadius = 10; duration = 122; initialDepth = 988.641956; finalDepth = 991.165216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.165216 # Seafloor depth:-1041.165216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1038.641956 meters looking forward 0.000000 meters along route # Maximum depth: 1038.641956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.641956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774944; longitude = -121.799195; captureRadius = 10; duration = 122; initialDepth = 986.588962; finalDepth = 988.641956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.641956 # Seafloor depth:-1038.641956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.588962 meters looking forward 0.000000 meters along route # Maximum depth: 1036.588962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.588962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.798581; captureRadius = 10; duration = 122; initialDepth = 984.053816; finalDepth = 986.588962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.588962 # Seafloor depth:-1036.588962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1034.053816 meters looking forward 0.000000 meters along route # Maximum depth: 1034.053816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.053816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.797918; captureRadius = 10; duration = 122; initialDepth = 985.039884; finalDepth = 984.053816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.053816 # Seafloor depth:-1034.053816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1035.039884 meters looking forward 0.000000 meters along route # Maximum depth: 1035.039884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.039884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.797254; captureRadius = 10; duration = 122; initialDepth = 984.622070; finalDepth = 985.039884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.039884 # Seafloor depth:-1035.039884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1034.622070 meters looking forward 0.000000 meters along route # Maximum depth: 1034.622070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.622070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.796590; captureRadius = 10; duration = 122; initialDepth = 985.658380; finalDepth = 984.622070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.62207 # Seafloor depth:-1034.622070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1035.658380 meters looking forward 0.000000 meters along route # Maximum depth: 1035.658380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.658380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779088; longitude = -121.795878; captureRadius = 10; duration = 122; initialDepth = 987.391396; finalDepth = 985.658380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.65838 # Seafloor depth:-1035.658380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1037.391396 meters looking forward 0.000000 meters along route # Maximum depth: 1037.391396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.391396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.795263; captureRadius = 10; duration = 122; initialDepth = 980.404663; finalDepth = 987.391396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.391396 # Seafloor depth:-1037.391396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1030.404663 meters looking forward 0.000000 meters along route # Maximum depth: 1030.404663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.404663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.794600; captureRadius = 10; duration = 122; initialDepth = 978.905937; finalDepth = 980.404663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.404663 # Seafloor depth:-1030.404663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1028.905937 meters looking forward 0.000000 meters along route # Maximum depth: 1028.905937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.905937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.793936; captureRadius = 10; duration = 122; initialDepth = 982.595100; finalDepth = 978.905937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.905937 # Seafloor depth:-1028.905937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1032.595100 meters looking forward 0.000000 meters along route # Maximum depth: 1032.595100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.595100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.793272; captureRadius = 10; duration = 122; initialDepth = 986.550191; finalDepth = 982.595100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.5951 # Seafloor depth:-1032.595100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1036.550191 meters looking forward 0.000000 meters along route # Maximum depth: 1036.550191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.550191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783232; longitude = -121.792561; captureRadius = 10; duration = 122; initialDepth = 982.182573; finalDepth = 986.550191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.550191 # Seafloor depth:-1036.550191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1032.182573 meters looking forward 0.000000 meters along route # Maximum depth: 1032.182573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.182573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.791945; captureRadius = 10; duration = 122; initialDepth = 976.469926; finalDepth = 982.182573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.182573 # Seafloor depth:-1032.182573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1026.469926 meters looking forward 0.000000 meters along route # Maximum depth: 1026.469926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.469926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.791281; captureRadius = 10; duration = 122; initialDepth = 978.015334; finalDepth = 976.469926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.469926 # Seafloor depth:-1026.469926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1028.015334 meters looking forward 0.000000 meters along route # Maximum depth: 1028.015334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.015334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.790618; captureRadius = 10; duration = 122; initialDepth = 975.298670; finalDepth = 978.015334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.015334 # Seafloor depth:-1028.015334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1025.298670 meters looking forward 0.000000 meters along route # Maximum depth: 1025.298670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.298670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.789954; captureRadius = 10; duration = 122; initialDepth = 976.180563; finalDepth = 975.298670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.29867 # Seafloor depth:-1025.298670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.463554 meters # Minimum depth: 1026.180563 meters looking forward 0.000000 meters along route # Maximum depth: 1026.180563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.180563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787377; longitude = -121.789244; captureRadius = 10; duration = 122; initialDepth = 973.931824; finalDepth = 976.180563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.180563 # Seafloor depth:-1026.180563 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 122.463554 meters # Minimum depth: 1023.931824 meters looking forward 0.000000 meters along route # Maximum depth: 1023.931824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.931824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788327; longitude = -121.788484; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 973.111369; finalDepth = 973.931824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.931824 # Seafloor depth:-1023.931824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 122.463554 meters # Minimum depth: 1023.111369 meters looking forward 0.000000 meters along route # Maximum depth: 1023.111369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.111369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788144; longitude = -121.788139; captureRadius = 10; duration = 122; initialDepth = 972.327347; finalDepth = 973.111369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.111369 # Seafloor depth:-1023.111369 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 122.463554 meters # Minimum depth: 1022.327347 meters looking forward 0.000000 meters along route # Maximum depth: 1022.327347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.327347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787588; longitude = -121.787094; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 975.782226; finalDepth = 972.327347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.327347 # Seafloor depth:-1022.327347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1025.782226 meters looking forward 0.000000 meters along route # Maximum depth: 1025.782226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.782226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.787751; captureRadius = 10; duration = 122; initialDepth = 979.606945; finalDepth = 975.782226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.782226 # Seafloor depth:-1025.782226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1029.606945 meters looking forward 0.000000 meters along route # Maximum depth: 1029.606945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.606945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.788415; captureRadius = 10; duration = 122; initialDepth = 976.138268; finalDepth = 979.606945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.606945 # Seafloor depth:-1029.606945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1026.138268 meters looking forward 0.000000 meters along route # Maximum depth: 1026.138268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.138268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.789079; captureRadius = 10; duration = 122; initialDepth = 975.204057; finalDepth = 976.138268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.138268 # Seafloor depth:-1026.138268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1025.204057 meters looking forward 0.000000 meters along route # Maximum depth: 1025.204057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.204057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784210; longitude = -121.789797; captureRadius = 10; duration = 122; initialDepth = 977.981643; finalDepth = 975.204057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.204057 # Seafloor depth:-1025.204057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1027.981643 meters looking forward 0.000000 meters along route # Maximum depth: 1027.981643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.981643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.790406; captureRadius = 10; duration = 122; initialDepth = 978.322964; finalDepth = 977.981643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.981643 # Seafloor depth:-1027.981643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1028.322964 meters looking forward 0.000000 meters along route # Maximum depth: 1028.322964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.322964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.791070; captureRadius = 10; duration = 122; initialDepth = 978.758077; finalDepth = 978.322964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.322964 # Seafloor depth:-1028.322964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1028.758077 meters looking forward 0.000000 meters along route # Maximum depth: 1028.758077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.758077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.791733; captureRadius = 10; duration = 122; initialDepth = 977.583530; finalDepth = 978.758077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.758077 # Seafloor depth:-1028.758077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1027.583530 meters looking forward 0.000000 meters along route # Maximum depth: 1027.583530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.583530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.792397; captureRadius = 10; duration = 122; initialDepth = 980.321106; finalDepth = 977.583530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.58353 # Seafloor depth:-1027.583530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1030.321106 meters looking forward 0.000000 meters along route # Maximum depth: 1030.321106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.321106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780066; longitude = -121.793114; captureRadius = 10; duration = 122; initialDepth = 981.673610; finalDepth = 980.321106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.321106 # Seafloor depth:-1030.321106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1031.673610 meters looking forward 0.000000 meters along route # Maximum depth: 1031.673610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.673610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.793724; captureRadius = 10; duration = 122; initialDepth = 982.738360; finalDepth = 981.673610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.67361 # Seafloor depth:-1031.673610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1032.738360 meters looking forward 0.000000 meters along route # Maximum depth: 1032.738360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.738360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.794388; captureRadius = 10; duration = 122; initialDepth = 983.771956; finalDepth = 982.738360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.73836 # Seafloor depth:-1032.738360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1033.771956 meters looking forward 0.000000 meters along route # Maximum depth: 1033.771956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.771956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.795052; captureRadius = 10; duration = 122; initialDepth = 981.390212; finalDepth = 983.771956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.771956 # Seafloor depth:-1033.771956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1031.390212 meters looking forward 0.000000 meters along route # Maximum depth: 1031.390212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.390212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.795715; captureRadius = 10; duration = 122; initialDepth = 985.507152; finalDepth = 981.390212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.390212 # Seafloor depth:-1031.390212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1035.507152 meters looking forward 0.000000 meters along route # Maximum depth: 1035.507152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.507152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775922; longitude = -121.796431; captureRadius = 10; duration = 122; initialDepth = 988.782051; finalDepth = 985.507152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.507152 # Seafloor depth:-1035.507152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1038.782051 meters looking forward 0.000000 meters along route # Maximum depth: 1038.782051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.782051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.797043; captureRadius = 10; duration = 122; initialDepth = 986.209712; finalDepth = 988.782051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.782051 # Seafloor depth:-1038.782051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1036.209712 meters looking forward 0.000000 meters along route # Maximum depth: 1036.209712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.209712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.797706; captureRadius = 10; duration = 122; initialDepth = 986.846632; finalDepth = 986.209712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.209712 # Seafloor depth:-1036.209712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1036.846632 meters looking forward 0.000000 meters along route # Maximum depth: 1036.846632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.846632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.798370; captureRadius = 10; duration = 122; initialDepth = 984.458168; finalDepth = 986.846632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.846632 # Seafloor depth:-1036.846632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.458168 meters looking forward 0.000000 meters along route # Maximum depth: 1034.458168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.458168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.799034; captureRadius = 10; duration = 122; initialDepth = 983.178020; finalDepth = 984.458168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.458168 # Seafloor depth:-1034.458168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1033.178020 meters looking forward 0.000000 meters along route # Maximum depth: 1033.178020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.178020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771778; longitude = -121.799748; captureRadius = 10; duration = 122; initialDepth = 984.801235; finalDepth = 983.178020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.17802 # Seafloor depth:-1033.178020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.801235 meters looking forward 0.000000 meters along route # Maximum depth: 1034.801235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.801235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.800361; captureRadius = 10; duration = 122; initialDepth = 983.138151; finalDepth = 984.801235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.801235 # Seafloor depth:-1034.801235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1033.138151 meters looking forward 0.000000 meters along route # Maximum depth: 1033.138151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.138151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.801025; captureRadius = 10; duration = 122; initialDepth = 985.651320; finalDepth = 983.138151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.138151 # Seafloor depth:-1033.138151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1035.651320 meters looking forward 0.000000 meters along route # Maximum depth: 1035.651320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.651320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.801688; captureRadius = 10; duration = 122; initialDepth = 988.629945; finalDepth = 985.651320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.65132 # Seafloor depth:-1035.651320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1038.629945 meters looking forward 0.000000 meters along route # Maximum depth: 1038.629945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.629945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.802352; captureRadius = 10; duration = 122; initialDepth = 989.923915; finalDepth = 988.629945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.629945 # Seafloor depth:-1038.629945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1039.923915 meters looking forward 0.000000 meters along route # Maximum depth: 1039.923915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.923915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767633; longitude = -121.803065; captureRadius = 10; duration = 122; initialDepth = 986.992148; finalDepth = 989.923915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.923915 # Seafloor depth:-1039.923915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1036.992148 meters looking forward 0.000000 meters along route # Maximum depth: 1036.992148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.992148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.803679; captureRadius = 10; duration = 122; initialDepth = 981.640997; finalDepth = 986.992148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.992148 # Seafloor depth:-1036.992148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1031.640997 meters looking forward 0.000000 meters along route # Maximum depth: 1031.640997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.640997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.804343; captureRadius = 10; duration = 122; initialDepth = 984.747473; finalDepth = 981.640997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.640997 # Seafloor depth:-1031.640997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.747473 meters looking forward 0.000000 meters along route # Maximum depth: 1034.747473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.747473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.805007; captureRadius = 10; duration = 122; initialDepth = 982.461806; finalDepth = 984.747473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.747473 # Seafloor depth:-1034.747473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1032.461806 meters looking forward 0.000000 meters along route # Maximum depth: 1032.461806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.461806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.805670; captureRadius = 10; duration = 122; initialDepth = 981.136432; finalDepth = 982.461806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.461806 # Seafloor depth:-1032.461806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1031.136432 meters looking forward 0.000000 meters along route # Maximum depth: 1031.136432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.136432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763489; longitude = -121.806382; captureRadius = 10; duration = 122; initialDepth = 981.702872; finalDepth = 981.136432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.136432 # Seafloor depth:-1031.136432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1031.702872 meters looking forward 0.000000 meters along route # Maximum depth: 1031.702872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.702872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.806998; captureRadius = 10; duration = 122; initialDepth = 981.679698; finalDepth = 981.702872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.702872 # Seafloor depth:-1031.702872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1031.679698 meters looking forward 0.000000 meters along route # Maximum depth: 1031.679698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.679698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.807661; captureRadius = 10; duration = 122; initialDepth = 984.580538; finalDepth = 981.679698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.679698 # Seafloor depth:-1031.679698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.580538 meters looking forward 0.000000 meters along route # Maximum depth: 1034.580538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.580538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.808325; captureRadius = 10; duration = 122; initialDepth = 984.712720; finalDepth = 984.580538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.580538 # Seafloor depth:-1034.580538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.712720 meters looking forward 0.000000 meters along route # Maximum depth: 1034.712720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.712720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.808989; captureRadius = 10; duration = 122; initialDepth = 988.166691; finalDepth = 984.712720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.71272 # Seafloor depth:-1034.712720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1038.166691 meters looking forward 0.000000 meters along route # Maximum depth: 1038.166691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.166691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759345; longitude = -121.809698; captureRadius = 10; duration = 122; initialDepth = 985.735583; finalDepth = 988.166691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.166691 # Seafloor depth:-1038.166691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1035.735583 meters looking forward 0.000000 meters along route # Maximum depth: 1035.735583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.735583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.810316; captureRadius = 10; duration = 122; initialDepth = 982.684058; finalDepth = 985.735583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.735583 # Seafloor depth:-1035.735583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1032.684058 meters looking forward 0.000000 meters along route # Maximum depth: 1032.684058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.684058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.810980; captureRadius = 10; duration = 122; initialDepth = 984.466583; finalDepth = 982.684058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.684058 # Seafloor depth:-1032.684058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.466583 meters looking forward 0.000000 meters along route # Maximum depth: 1034.466583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.466583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.811643; captureRadius = 10; duration = 122; initialDepth = 984.349926; finalDepth = 984.466583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.466583 # Seafloor depth:-1034.466583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.349926 meters looking forward 0.000000 meters along route # Maximum depth: 1034.349926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.349926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.812307; captureRadius = 10; duration = 122; initialDepth = 984.925198; finalDepth = 984.349926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.349926 # Seafloor depth:-1034.349926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.925198 meters looking forward 0.000000 meters along route # Maximum depth: 1034.925198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.925198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755201; longitude = -121.813015; captureRadius = 10; duration = 122; initialDepth = 983.182624; finalDepth = 984.925198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.925198 # Seafloor depth:-1034.925198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1033.182624 meters looking forward 0.000000 meters along route # Maximum depth: 1033.182624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.182624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.813634; captureRadius = 10; duration = 122; initialDepth = 987.787231; finalDepth = 983.182624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.182624 # Seafloor depth:-1033.182624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1037.787231 meters looking forward 0.000000 meters along route # Maximum depth: 1037.787231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.787231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.814298; captureRadius = 10; duration = 122; initialDepth = 986.165893; finalDepth = 987.787231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.787231 # Seafloor depth:-1037.787231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1036.165893 meters looking forward 0.000000 meters along route # Maximum depth: 1036.165893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.165893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.814962; captureRadius = 10; duration = 122; initialDepth = 985.344990; finalDepth = 986.165893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.165893 # Seafloor depth:-1036.165893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1035.344990 meters looking forward 0.000000 meters along route # Maximum depth: 1035.344990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.344990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.815625; captureRadius = 10; duration = 122; initialDepth = 985.325273; finalDepth = 985.344990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.34499 # Seafloor depth:-1035.344990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1035.325273 meters looking forward 0.000000 meters along route # Maximum depth: 1035.325273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.325273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751056; longitude = -121.816332; captureRadius = 10; duration = 122; initialDepth = 987.171962; finalDepth = 985.325273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.325273 # Seafloor depth:-1035.325273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1037.171962 meters looking forward 0.000000 meters along route # Maximum depth: 1037.171962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.171962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.816953; captureRadius = 10; duration = 122; initialDepth = 988.017819; finalDepth = 987.171962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.171962 # Seafloor depth:-1037.171962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1038.017819 meters looking forward 0.000000 meters along route # Maximum depth: 1038.017819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.017819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.817616; captureRadius = 10; duration = 122; initialDepth = 986.639045; finalDepth = 988.017819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.017819 # Seafloor depth:-1038.017819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1036.639045 meters looking forward 0.000000 meters along route # Maximum depth: 1036.639045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.639045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.818280; captureRadius = 10; duration = 122; initialDepth = 985.032446; finalDepth = 986.639045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.639045 # Seafloor depth:-1036.639045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1035.032446 meters looking forward 0.000000 meters along route # Maximum depth: 1035.032446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.032446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.818944; captureRadius = 10; duration = 122; initialDepth = 986.322778; finalDepth = 985.032446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.032446 # Seafloor depth:-1035.032446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1036.322778 meters looking forward 0.000000 meters along route # Maximum depth: 1036.322778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.322778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746912; longitude = -121.819649; captureRadius = 10; duration = 122; initialDepth = 984.089013; finalDepth = 986.322778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.322778 # Seafloor depth:-1036.322778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.089013 meters looking forward 0.000000 meters along route # Maximum depth: 1034.089013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.089013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.820271; captureRadius = 10; duration = 122; initialDepth = 984.673375; finalDepth = 984.089013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.089013 # Seafloor depth:-1034.089013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.673375 meters looking forward 0.000000 meters along route # Maximum depth: 1034.673375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.673375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.820935; captureRadius = 10; duration = 122; initialDepth = 995.178763; finalDepth = 984.673375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.673375 # Seafloor depth:-1034.673375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1045.178763 meters looking forward 0.000000 meters along route # Maximum depth: 1045.178763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.178763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.821598; captureRadius = 10; duration = 122; initialDepth = 993.663707; finalDepth = 995.178763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.178763 # Seafloor depth:-1045.178763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1043.663707 meters looking forward 0.000000 meters along route # Maximum depth: 1043.663707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.663707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.822262; captureRadius = 10; duration = 122; initialDepth = 988.326691; finalDepth = 993.663707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.663707 # Seafloor depth:-1043.663707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1038.326691 meters looking forward 0.000000 meters along route # Maximum depth: 1038.326691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.326691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742768; longitude = -121.822966; captureRadius = 10; duration = 122; initialDepth = 984.837082; finalDepth = 988.326691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.326691 # Seafloor depth:-1038.326691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1034.837082 meters looking forward 0.000000 meters along route # Maximum depth: 1034.837082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.837082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.823589; captureRadius = 10; duration = 122; initialDepth = 989.276944; finalDepth = 984.837082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.837082 # Seafloor depth:-1034.837082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1039.276944 meters looking forward 0.000000 meters along route # Maximum depth: 1039.276944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.276944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.824253; captureRadius = 10; duration = 122; initialDepth = 992.613578; finalDepth = 989.276944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.276944 # Seafloor depth:-1039.276944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1042.613578 meters looking forward 0.000000 meters along route # Maximum depth: 1042.613578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.613578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.824916; captureRadius = 10; duration = 122; initialDepth = 987.534634; finalDepth = 992.613578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.613578 # Seafloor depth:-1042.613578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1037.534634 meters looking forward 0.000000 meters along route # Maximum depth: 1037.534634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.534634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.825580; captureRadius = 10; duration = 122; initialDepth = 988.349843; finalDepth = 987.534634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.534634 # Seafloor depth:-1037.534634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1038.349843 meters looking forward 0.000000 meters along route # Maximum depth: 1038.349843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.349843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738624; longitude = -121.826283; captureRadius = 10; duration = 122; initialDepth = 991.110266; finalDepth = 988.349843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.349843 # Seafloor depth:-1038.349843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1041.110266 meters looking forward 0.000000 meters along route # Maximum depth: 1041.110266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.110266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.826907; captureRadius = 10; duration = 122; initialDepth = 989.570278; finalDepth = 991.110266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.110266 # Seafloor depth:-1041.110266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1039.570278 meters looking forward 0.000000 meters along route # Maximum depth: 1039.570278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.570278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.827571; captureRadius = 10; duration = 122; initialDepth = 992.339528; finalDepth = 989.570278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.570278 # Seafloor depth:-1039.570278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1042.339528 meters looking forward 0.000000 meters along route # Maximum depth: 1042.339528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.339528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.828235; captureRadius = 10; duration = 122; initialDepth = 990.627100; finalDepth = 992.339528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.339528 # Seafloor depth:-1042.339528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1040.627100 meters looking forward 0.000000 meters along route # Maximum depth: 1040.627100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.627100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.828898; captureRadius = 10; duration = 122; initialDepth = 989.262768; finalDepth = 990.627100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.6271 # Seafloor depth:-1040.627100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1039.262768 meters looking forward 0.000000 meters along route # Maximum depth: 1039.262768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.262768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734480; longitude = -121.829599; captureRadius = 10; duration = 122; initialDepth = 991.590307; finalDepth = 989.262768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.262768 # Seafloor depth:-1039.262768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1041.590307 meters looking forward 0.000000 meters along route # Maximum depth: 1041.590307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.590307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.830226; captureRadius = 10; duration = 122; initialDepth = 996.029601; finalDepth = 991.590307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.590307 # Seafloor depth:-1041.590307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1046.029601 meters looking forward 0.000000 meters along route # Maximum depth: 1046.029601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.029601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.830889; captureRadius = 10; duration = 122; initialDepth = 993.765447; finalDepth = 996.029601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.029601 # Seafloor depth:-1046.029601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1043.765447 meters looking forward 0.000000 meters along route # Maximum depth: 1043.765447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.765447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.831553; captureRadius = 10; duration = 122; initialDepth = 992.020887; finalDepth = 993.765447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.765447 # Seafloor depth:-1043.765447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1042.020887 meters looking forward 0.000000 meters along route # Maximum depth: 1042.020887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.020887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.832217; captureRadius = 10; duration = 122; initialDepth = 997.566035; finalDepth = 992.020887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.020887 # Seafloor depth:-1042.020887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1047.566035 meters looking forward 0.000000 meters along route # Maximum depth: 1047.566035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.566035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730335; longitude = -121.832916; captureRadius = 10; duration = 122; initialDepth = 994.369184; finalDepth = 997.566035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.566035 # Seafloor depth:-1047.566035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1044.369184 meters looking forward 0.000000 meters along route # Maximum depth: 1044.369184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.369184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.833544; captureRadius = 10; duration = 122; initialDepth = 995.165241; finalDepth = 994.369184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.369184 # Seafloor depth:-1044.369184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1045.165241 meters looking forward 0.000000 meters along route # Maximum depth: 1045.165241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.165241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.834208; captureRadius = 10; duration = 122; initialDepth = 991.557129; finalDepth = 995.165241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.165241 # Seafloor depth:-1045.165241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1041.557129 meters looking forward 0.000000 meters along route # Maximum depth: 1041.557129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.557129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727893; longitude = -121.834871; captureRadius = 10; duration = 122; initialDepth = 996.981065; finalDepth = 991.557129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.557129 # Seafloor depth:-1041.557129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1046.981065 meters looking forward 0.000000 meters along route # Maximum depth: 1046.981065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.981065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.835535; captureRadius = 10; duration = 122; initialDepth = 993.787562; finalDepth = 996.981065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.981065 # Seafloor depth:-1046.981065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1043.787562 meters looking forward 0.000000 meters along route # Maximum depth: 1043.787562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.787562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726191; longitude = -121.836233; captureRadius = 10; duration = 122; initialDepth = 992.567407; finalDepth = 993.787562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.787562 # Seafloor depth:-1043.787562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1042.567407 meters looking forward 0.000000 meters along route # Maximum depth: 1042.567407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.567407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.836862; captureRadius = 10; duration = 122; initialDepth = 994.836054; finalDepth = 992.567407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.567407 # Seafloor depth:-1042.567407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1044.836054 meters looking forward 0.000000 meters along route # Maximum depth: 1044.836054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.836054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724576; longitude = -121.837526; captureRadius = 10; duration = 122; initialDepth = 991.891982; finalDepth = 994.836054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.836054 # Seafloor depth:-1044.836054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1041.891982 meters looking forward 0.000000 meters along route # Maximum depth: 1041.891982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.891982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.838190; captureRadius = 10; duration = 122; initialDepth = 991.342713; finalDepth = 991.891982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.891982 # Seafloor depth:-1041.891982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1041.342713 meters looking forward 0.000000 meters along route # Maximum depth: 1041.342713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.342713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.838853; captureRadius = 10; duration = 122; initialDepth = 989.396814; finalDepth = 991.342713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.342713 # Seafloor depth:-1041.342713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 122.463554 meters # Minimum depth: 1039.396814 meters looking forward 0.000000 meters along route # Maximum depth: 1039.396814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.396814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722047; longitude = -121.839550; captureRadius = 10; duration = 122; initialDepth = 990.412506; finalDepth = 989.396814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.396814 # Seafloor depth:-1039.396814 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 122.463554 meters # Minimum depth: 1040.412506 meters looking forward 0.000000 meters along route # Maximum depth: 1040.412506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.412506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721161; longitude = -121.840259; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 989.050744; finalDepth = 990.412506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.412506 # Seafloor depth:-1040.412506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 122.463554 meters # Minimum depth: 1039.050744 meters looking forward 0.000000 meters along route # Maximum depth: 1039.050744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.050744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720931; longitude = -121.839826; captureRadius = 10; duration = 122; initialDepth = 991.139648; finalDepth = 989.050744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.050744 # Seafloor depth:-1039.050744 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 122.463554 meters # Minimum depth: 1041.139648 meters looking forward 0.000000 meters along route # Maximum depth: 1041.139648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.139648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720422; longitude = -121.838869; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 990.265462; finalDepth = 991.139648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.139648 # Seafloor depth:-1041.139648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.265462 meters looking forward 0.000000 meters along route # Maximum depth: 1040.265462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.265462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720430; longitude = -121.838863; captureRadius = 10; duration = 122; initialDepth = 990.533939; finalDepth = 990.265462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.265462 # Seafloor depth:-1040.265462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.533939 meters looking forward 0.000000 meters along route # Maximum depth: 1040.533939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.533939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721300; longitude = -121.838168; captureRadius = 10; duration = 122; initialDepth = 989.403971; finalDepth = 990.533939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.533939 # Seafloor depth:-1040.533939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1039.403971 meters looking forward 0.000000 meters along route # Maximum depth: 1039.403971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.403971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722088; longitude = -121.837539; captureRadius = 10; duration = 122; initialDepth = 990.420317; finalDepth = 989.403971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.403971 # Seafloor depth:-1039.403971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.420317 meters looking forward 0.000000 meters along route # Maximum depth: 1040.420317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.420317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722917; longitude = -121.836877; captureRadius = 10; duration = 122; initialDepth = 989.012640; finalDepth = 990.420317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.420317 # Seafloor depth:-1040.420317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1039.012640 meters looking forward 0.000000 meters along route # Maximum depth: 1039.012640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.012640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.836215; captureRadius = 10; duration = 122; initialDepth = 990.419361; finalDepth = 989.012640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.01264 # Seafloor depth:-1039.012640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.419361 meters looking forward 0.000000 meters along route # Maximum depth: 1040.419361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.419361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724576; longitude = -121.835553; captureRadius = 10; duration = 122; initialDepth = 990.413432; finalDepth = 990.419361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.419361 # Seafloor depth:-1040.419361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.413432 meters looking forward 0.000000 meters along route # Maximum depth: 1040.413432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.413432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725455; longitude = -121.834851; captureRadius = 10; duration = 122; initialDepth = 988.677344; finalDepth = 990.413432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.413432 # Seafloor depth:-1040.413432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1038.677344 meters looking forward 0.000000 meters along route # Maximum depth: 1038.677344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.677344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726234; longitude = -121.834230; captureRadius = 10; duration = 122; initialDepth = 988.017505; finalDepth = 988.677344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.677344 # Seafloor depth:-1038.677344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1038.017505 meters looking forward 0.000000 meters along route # Maximum depth: 1038.017505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.017505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.833568; captureRadius = 10; duration = 122; initialDepth = 992.090181; finalDepth = 988.017505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.017505 # Seafloor depth:-1038.017505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1042.090181 meters looking forward 0.000000 meters along route # Maximum depth: 1042.090181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.090181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727893; longitude = -121.832906; captureRadius = 10; duration = 122; initialDepth = 990.236416; finalDepth = 992.090181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.090181 # Seafloor depth:-1042.090181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.236416 meters looking forward 0.000000 meters along route # Maximum depth: 1040.236416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.236416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.832244; captureRadius = 10; duration = 122; initialDepth = 988.257526; finalDepth = 990.236416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.236416 # Seafloor depth:-1040.236416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1038.257526 meters looking forward 0.000000 meters along route # Maximum depth: 1038.257526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.257526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729611; longitude = -121.831534; captureRadius = 10; duration = 122; initialDepth = 991.352344; finalDepth = 988.257526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.257526 # Seafloor depth:-1038.257526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1041.352344 meters looking forward 0.000000 meters along route # Maximum depth: 1041.352344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.352344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.830920; captureRadius = 10; duration = 122; initialDepth = 992.692441; finalDepth = 991.352344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.352344 # Seafloor depth:-1041.352344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1042.692441 meters looking forward 0.000000 meters along route # Maximum depth: 1042.692441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.692441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.830258; captureRadius = 10; duration = 122; initialDepth = 994.550166; finalDepth = 992.692441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.692441 # Seafloor depth:-1042.692441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1044.550166 meters looking forward 0.000000 meters along route # Maximum depth: 1044.550166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.550166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.829596; captureRadius = 10; duration = 122; initialDepth = 991.976063; finalDepth = 994.550166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.550166 # Seafloor depth:-1044.550166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1041.976063 meters looking forward 0.000000 meters along route # Maximum depth: 1041.976063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.976063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.828934; captureRadius = 10; duration = 122; initialDepth = 995.977242; finalDepth = 991.976063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.976063 # Seafloor depth:-1041.976063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1045.977242 meters looking forward 0.000000 meters along route # Maximum depth: 1045.977242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.977242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733766; longitude = -121.828217; captureRadius = 10; duration = 122; initialDepth = 990.468221; finalDepth = 995.977242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.977242 # Seafloor depth:-1045.977242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.468221 meters looking forward 0.000000 meters along route # Maximum depth: 1040.468221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.468221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.827610; captureRadius = 10; duration = 122; initialDepth = 990.274449; finalDepth = 990.468221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.468221 # Seafloor depth:-1040.468221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1040.274449 meters looking forward 0.000000 meters along route # Maximum depth: 1040.274449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.274449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.826948; captureRadius = 10; duration = 122; initialDepth = 987.953198; finalDepth = 990.274449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.274449 # Seafloor depth:-1040.274449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1037.953198 meters looking forward 0.000000 meters along route # Maximum depth: 1037.953198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.953198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736190; longitude = -121.826283; captureRadius = 10; duration = 122; initialDepth = 986.826683; finalDepth = 987.953198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.953198 # Seafloor depth:-1037.953198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1036.826683 meters looking forward 0.000000 meters along route # Maximum depth: 1036.826683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.826683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.825625; captureRadius = 10; duration = 122; initialDepth = 987.972357; finalDepth = 986.826683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.826683 # Seafloor depth:-1036.826683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1037.972357 meters looking forward 0.000000 meters along route # Maximum depth: 1037.972357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.972357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.824963; captureRadius = 10; duration = 122; initialDepth = 987.268121; finalDepth = 987.972357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.972357 # Seafloor depth:-1037.972357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1037.268121 meters looking forward 0.000000 meters along route # Maximum depth: 1037.268121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.268121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.824301; captureRadius = 10; duration = 122; initialDepth = 986.425353; finalDepth = 987.268121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.268121 # Seafloor depth:-1037.268121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1036.425353 meters looking forward 0.000000 meters along route # Maximum depth: 1036.425353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.425353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.823639; captureRadius = 10; duration = 122; initialDepth = 985.236393; finalDepth = 986.425353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.425353 # Seafloor depth:-1036.425353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1035.236393 meters looking forward 0.000000 meters along route # Maximum depth: 1035.236393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.236393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740345; longitude = -121.822966; captureRadius = 10; duration = 122; initialDepth = 987.735567; finalDepth = 985.236393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.236393 # Seafloor depth:-1035.236393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1037.735567 meters looking forward 0.000000 meters along route # Maximum depth: 1037.735567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.735567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.822315; captureRadius = 10; duration = 122; initialDepth = 983.707668; finalDepth = 987.735567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.735567 # Seafloor depth:-1037.735567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.707668 meters looking forward 0.000000 meters along route # Maximum depth: 1033.707668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.707668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.821653; captureRadius = 10; duration = 122; initialDepth = 986.824463; finalDepth = 983.707668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.707668 # Seafloor depth:-1033.707668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1036.824463 meters looking forward 0.000000 meters along route # Maximum depth: 1036.824463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.824463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.820991; captureRadius = 10; duration = 122; initialDepth = 991.828608; finalDepth = 986.824463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.824463 # Seafloor depth:-1036.824463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1041.828608 meters looking forward 0.000000 meters along route # Maximum depth: 1041.828608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.828608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.820329; captureRadius = 10; duration = 122; initialDepth = 986.087743; finalDepth = 991.828608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.828608 # Seafloor depth:-1041.828608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1036.087743 meters looking forward 0.000000 meters along route # Maximum depth: 1036.087743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.087743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744500; longitude = -121.819649; captureRadius = 10; duration = 122; initialDepth = 983.965379; finalDepth = 986.087743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.087743 # Seafloor depth:-1036.087743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.965379 meters looking forward 0.000000 meters along route # Maximum depth: 1033.965379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.965379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.819005; captureRadius = 10; duration = 122; initialDepth = 985.021302; finalDepth = 983.965379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.965379 # Seafloor depth:-1033.965379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1035.021302 meters looking forward 0.000000 meters along route # Maximum depth: 1035.021302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.021302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.818344; captureRadius = 10; duration = 122; initialDepth = 986.509653; finalDepth = 985.021302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.021302 # Seafloor depth:-1035.021302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1036.509653 meters looking forward 0.000000 meters along route # Maximum depth: 1036.509653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.509653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.817682; captureRadius = 10; duration = 122; initialDepth = 985.930447; finalDepth = 986.509653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.509653 # Seafloor depth:-1036.509653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1035.930447 meters looking forward 0.000000 meters along route # Maximum depth: 1035.930447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.930447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.817020; captureRadius = 10; duration = 122; initialDepth = 984.105890; finalDepth = 985.930447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.930447 # Seafloor depth:-1035.930447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1034.105890 meters looking forward 0.000000 meters along route # Maximum depth: 1034.105890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.105890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748655; longitude = -121.816332; captureRadius = 10; duration = 122; initialDepth = 984.386864; finalDepth = 984.105890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.10589 # Seafloor depth:-1034.105890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1034.386864 meters looking forward 0.000000 meters along route # Maximum depth: 1034.386864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.386864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.815696; captureRadius = 10; duration = 122; initialDepth = 985.219813; finalDepth = 984.386864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.386864 # Seafloor depth:-1034.386864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1035.219813 meters looking forward 0.000000 meters along route # Maximum depth: 1035.219813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.219813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.815034; captureRadius = 10; duration = 122; initialDepth = 987.326933; finalDepth = 985.219813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.219813 # Seafloor depth:-1035.219813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1037.326933 meters looking forward 0.000000 meters along route # Maximum depth: 1037.326933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.326933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.814372; captureRadius = 10; duration = 122; initialDepth = 983.368922; finalDepth = 987.326933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.326933 # Seafloor depth:-1037.326933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.368922 meters looking forward 0.000000 meters along route # Maximum depth: 1033.368922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.368922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.813710; captureRadius = 10; duration = 122; initialDepth = 983.566079; finalDepth = 983.368922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.368922 # Seafloor depth:-1033.368922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.566079 meters looking forward 0.000000 meters along route # Maximum depth: 1033.566079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.566079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752810; longitude = -121.813015; captureRadius = 10; duration = 122; initialDepth = 983.290145; finalDepth = 983.566079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.566079 # Seafloor depth:-1033.566079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.290145 meters looking forward 0.000000 meters along route # Maximum depth: 1033.290145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.290145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.812386; captureRadius = 10; duration = 122; initialDepth = 982.022528; finalDepth = 983.290145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.290145 # Seafloor depth:-1033.290145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.022528 meters looking forward 0.000000 meters along route # Maximum depth: 1032.022528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.022528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.811724; captureRadius = 10; duration = 122; initialDepth = 984.105187; finalDepth = 982.022528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.022528 # Seafloor depth:-1032.022528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1034.105187 meters looking forward 0.000000 meters along route # Maximum depth: 1034.105187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.105187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.811063; captureRadius = 10; duration = 122; initialDepth = 983.867197; finalDepth = 984.105187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.105187 # Seafloor depth:-1034.105187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.867197 meters looking forward 0.000000 meters along route # Maximum depth: 1033.867197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.867197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.810401; captureRadius = 10; duration = 122; initialDepth = 982.710401; finalDepth = 983.867197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.867197 # Seafloor depth:-1033.867197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.710401 meters looking forward 0.000000 meters along route # Maximum depth: 1032.710401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.710401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756965; longitude = -121.809698; captureRadius = 10; duration = 122; initialDepth = 982.369656; finalDepth = 982.710401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.710401 # Seafloor depth:-1032.710401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.369656 meters looking forward 0.000000 meters along route # Maximum depth: 1032.369656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.369656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.809077; captureRadius = 10; duration = 122; initialDepth = 987.682169; finalDepth = 982.369656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.369656 # Seafloor depth:-1032.369656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1037.682169 meters looking forward 0.000000 meters along route # Maximum depth: 1037.682169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.682169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.808415; captureRadius = 10; duration = 122; initialDepth = 983.045177; finalDepth = 987.682169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.682169 # Seafloor depth:-1037.682169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.045177 meters looking forward 0.000000 meters along route # Maximum depth: 1033.045177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.045177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.807753; captureRadius = 10; duration = 122; initialDepth = 982.223913; finalDepth = 983.045177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.045177 # Seafloor depth:-1033.045177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.223913 meters looking forward 0.000000 meters along route # Maximum depth: 1032.223913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.223913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.807091; captureRadius = 10; duration = 122; initialDepth = 983.188357; finalDepth = 982.223913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.223913 # Seafloor depth:-1032.223913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.188357 meters looking forward 0.000000 meters along route # Maximum depth: 1033.188357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.188357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761121; longitude = -121.806382; captureRadius = 10; duration = 122; initialDepth = 980.578212; finalDepth = 983.188357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.188357 # Seafloor depth:-1033.188357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1030.578212 meters looking forward 0.000000 meters along route # Maximum depth: 1030.578212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.578212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.805767; captureRadius = 10; duration = 122; initialDepth = 980.788468; finalDepth = 980.578212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.578212 # Seafloor depth:-1030.578212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1030.788468 meters looking forward 0.000000 meters along route # Maximum depth: 1030.788468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.788468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.805105; captureRadius = 10; duration = 122; initialDepth = 980.379302; finalDepth = 980.788468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.788468 # Seafloor depth:-1030.788468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1030.379302 meters looking forward 0.000000 meters along route # Maximum depth: 1030.379302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.379302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.804443; captureRadius = 10; duration = 122; initialDepth = 983.014131; finalDepth = 980.379302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.379302 # Seafloor depth:-1030.379302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1033.014131 meters looking forward 0.000000 meters along route # Maximum depth: 1033.014131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.014131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.803781; captureRadius = 10; duration = 122; initialDepth = 984.052914; finalDepth = 983.014131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.014131 # Seafloor depth:-1033.014131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1034.052914 meters looking forward 0.000000 meters along route # Maximum depth: 1034.052914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.052914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765276; longitude = -121.803065; captureRadius = 10; duration = 122; initialDepth = 987.196504; finalDepth = 984.052914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.052914 # Seafloor depth:-1034.052914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1037.196504 meters looking forward 0.000000 meters along route # Maximum depth: 1037.196504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.196504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.802458; captureRadius = 10; duration = 122; initialDepth = 985.954839; finalDepth = 987.196504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.196504 # Seafloor depth:-1037.196504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1035.954839 meters looking forward 0.000000 meters along route # Maximum depth: 1035.954839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.954839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.801796; captureRadius = 10; duration = 122; initialDepth = 985.162780; finalDepth = 985.954839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.954839 # Seafloor depth:-1035.954839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1035.162780 meters looking forward 0.000000 meters along route # Maximum depth: 1035.162780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.162780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767700; longitude = -121.801130; captureRadius = 10; duration = 122; initialDepth = 984.639307; finalDepth = 985.162780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.16278 # Seafloor depth:-1035.162780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1034.639307 meters looking forward 0.000000 meters along route # Maximum depth: 1034.639307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.639307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.800472; captureRadius = 10; duration = 122; initialDepth = 980.451871; finalDepth = 984.639307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.639307 # Seafloor depth:-1034.639307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1030.451871 meters looking forward 0.000000 meters along route # Maximum depth: 1030.451871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.451871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.799810; captureRadius = 10; duration = 122; initialDepth = 982.936086; finalDepth = 980.451871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.451871 # Seafloor depth:-1030.451871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.936086 meters looking forward 0.000000 meters along route # Maximum depth: 1032.936086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.936086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.799148; captureRadius = 10; duration = 122; initialDepth = 982.505090; finalDepth = 982.936086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.936086 # Seafloor depth:-1032.936086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.505090 meters looking forward 0.000000 meters along route # Maximum depth: 1032.505090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.505090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.798486; captureRadius = 10; duration = 122; initialDepth = 985.872268; finalDepth = 982.505090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.50509 # Seafloor depth:-1032.505090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1035.872268 meters looking forward 0.000000 meters along route # Maximum depth: 1035.872268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.872268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771855; longitude = -121.797813; captureRadius = 10; duration = 122; initialDepth = 986.621985; finalDepth = 985.872268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.872268 # Seafloor depth:-1035.872268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1036.621985 meters looking forward 0.000000 meters along route # Maximum depth: 1036.621985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.621985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.797162; captureRadius = 10; duration = 122; initialDepth = 988.695777; finalDepth = 986.621985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.621985 # Seafloor depth:-1036.621985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1038.695777 meters looking forward 0.000000 meters along route # Maximum depth: 1038.695777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.695777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.796500; captureRadius = 10; duration = 122; initialDepth = 984.945529; finalDepth = 988.695777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.695777 # Seafloor depth:-1038.695777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1034.945529 meters looking forward 0.000000 meters along route # Maximum depth: 1034.945529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.945529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.795839; captureRadius = 10; duration = 122; initialDepth = 982.916077; finalDepth = 984.945529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.945529 # Seafloor depth:-1034.945529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.916077 meters looking forward 0.000000 meters along route # Maximum depth: 1032.916077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.916077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.795177; captureRadius = 10; duration = 122; initialDepth = 981.201537; finalDepth = 982.916077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.916077 # Seafloor depth:-1032.916077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1031.201537 meters looking forward 0.000000 meters along route # Maximum depth: 1031.201537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.201537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776010; longitude = -121.794496; captureRadius = 10; duration = 122; initialDepth = 982.610795; finalDepth = 981.201537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.201537 # Seafloor depth:-1031.201537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1032.610795 meters looking forward 0.000000 meters along route # Maximum depth: 1032.610795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.610795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.793853; captureRadius = 10; duration = 122; initialDepth = 979.557032; finalDepth = 982.610795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.610795 # Seafloor depth:-1032.610795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1029.557032 meters looking forward 0.000000 meters along route # Maximum depth: 1029.557032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.557032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.793191; captureRadius = 10; duration = 122; initialDepth = 979.011736; finalDepth = 979.557032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.557032 # Seafloor depth:-1029.557032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1029.011736 meters looking forward 0.000000 meters along route # Maximum depth: 1029.011736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.011736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.792529; captureRadius = 10; duration = 122; initialDepth = 978.077525; finalDepth = 979.011736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.011736 # Seafloor depth:-1029.011736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1028.077525 meters looking forward 0.000000 meters along route # Maximum depth: 1028.077525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.077525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.791867; captureRadius = 10; duration = 122; initialDepth = 977.935966; finalDepth = 978.077525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.077525 # Seafloor depth:-1028.077525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1027.935966 meters looking forward 0.000000 meters along route # Maximum depth: 1027.935966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.935966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780165; longitude = -121.791179; captureRadius = 10; duration = 122; initialDepth = 976.690648; finalDepth = 977.935966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.935966 # Seafloor depth:-1027.935966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1026.690648 meters looking forward 0.000000 meters along route # Maximum depth: 1026.690648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.690648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.790543; captureRadius = 10; duration = 122; initialDepth = 976.526154; finalDepth = 976.690648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.690648 # Seafloor depth:-1026.690648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1026.526154 meters looking forward 0.000000 meters along route # Maximum depth: 1026.526154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.526154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.789881; captureRadius = 10; duration = 122; initialDepth = 975.670829; finalDepth = 976.526154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.526154 # Seafloor depth:-1026.526154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1025.670829 meters looking forward 0.000000 meters along route # Maximum depth: 1025.670829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.670829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.789219; captureRadius = 10; duration = 122; initialDepth = 976.328746; finalDepth = 975.670829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.670829 # Seafloor depth:-1025.670829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1026.328746 meters looking forward 0.000000 meters along route # Maximum depth: 1026.328746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.328746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.788557; captureRadius = 10; duration = 122; initialDepth = 976.716915; finalDepth = 976.328746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.328746 # Seafloor depth:-1026.328746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1026.716915 meters looking forward 0.000000 meters along route # Maximum depth: 1026.716915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.716915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784320; longitude = -121.787862; captureRadius = 10; duration = 122; initialDepth = 973.405798; finalDepth = 976.716915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.716915 # Seafloor depth:-1026.716915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1023.405798 meters looking forward 0.000000 meters along route # Maximum depth: 1023.405798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.405798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.787234; captureRadius = 10; duration = 122; initialDepth = 972.716758; finalDepth = 973.405798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.405798 # Seafloor depth:-1023.405798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 122.463554 meters # Minimum depth: 1022.716758 meters looking forward 0.000000 meters along route # Maximum depth: 1022.716758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.716758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786052; longitude = -121.786480; captureRadius = 10; duration = 122; initialDepth = 971.251511; finalDepth = 972.716758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.716758 # Seafloor depth:-1022.716758 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 122.463554 meters # Minimum depth: 1021.251511 meters looking forward 0.000000 meters along route # Maximum depth: 1021.251511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.251511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786859; longitude = -121.785836; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 969.115702; finalDepth = 971.251511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:971.251511 # Seafloor depth:-1021.251511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1019.115702 meters looking forward 0.000000 meters along route # Maximum depth: 1019.115702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.115702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786641; longitude = -121.785375; captureRadius = 10; duration = 122; initialDepth = 969.190930; finalDepth = 969.115702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:969.115702 # Seafloor depth:-1019.115702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1019.190930 meters looking forward 0.000000 meters along route # Maximum depth: 1019.190930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.190930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786119; longitude = -121.784269; captureRadius = 10; duration = 122; initialDepth = 965.932689; finalDepth = 969.190930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:969.19093 # Seafloor depth:-1019.190930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1015.932689 meters looking forward 0.000000 meters along route # Maximum depth: 1015.932689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.932689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.783299; captureRadius = 10; duration = 122; initialDepth = 963.603150; finalDepth = 965.932689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.932689 # Seafloor depth:-1015.932689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1013.603150 meters looking forward 0.000000 meters along route # Maximum depth: 1013.603150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.603150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785205; longitude = -121.782334; captureRadius = 10; duration = 122; initialDepth = 962.434143; finalDepth = 963.603150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.60315 # Seafloor depth:-1013.603150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1012.434143 meters looking forward 0.000000 meters along route # Maximum depth: 1012.434143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.434143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784683; longitude = -121.781229; captureRadius = 10; duration = 122; initialDepth = 963.874848; finalDepth = 962.434143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.434143 # Seafloor depth:-1012.434143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1013.874848 meters looking forward 0.000000 meters along route # Maximum depth: 1013.874848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.874848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784161; longitude = -121.780123; captureRadius = 10; duration = 122; initialDepth = 965.630309; finalDepth = 963.874848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.874848 # Seafloor depth:-1013.874848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1015.630309 meters looking forward 0.000000 meters along route # Maximum depth: 1015.630309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.630309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783639; longitude = -121.779018; captureRadius = 10; duration = 122; initialDepth = 958.371630; finalDepth = 965.630309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.630309 # Seafloor depth:-1015.630309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1008.371630 meters looking forward 0.000000 meters along route # Maximum depth: 1008.371630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.371630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783117; longitude = -121.777912; captureRadius = 10; duration = 122; initialDepth = 956.538422; finalDepth = 958.371630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:958.37163 # Seafloor depth:-1008.371630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.463554 meters # Minimum depth: 1006.538422 meters looking forward 0.000000 meters along route # Maximum depth: 1006.538422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.538422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.776860; captureRadius = 10; duration = 122; initialDepth = 955.570251; finalDepth = 956.538422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.538422 # Seafloor depth:-1006.538422 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 122.463554 meters # Minimum depth: 1005.570251 meters looking forward 0.000000 meters along route # Maximum depth: 1005.570251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.570251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782160; longitude = -121.775885; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 956.117833; finalDepth = 955.570251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:955.570251 # Seafloor depth:-1005.570251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1006.117833 meters looking forward 0.000000 meters along route # Maximum depth: 1006.117833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.117833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782044; longitude = -121.775977; captureRadius = 10; duration = 122; initialDepth = 955.115605; finalDepth = 956.117833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.117833 # Seafloor depth:-1006.117833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1005.115605 meters looking forward 0.000000 meters along route # Maximum depth: 1005.115605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.115605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.776619; captureRadius = 10; duration = 122; initialDepth = 956.369722; finalDepth = 955.115605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:955.115605 # Seafloor depth:-1005.115605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1006.369722 meters looking forward 0.000000 meters along route # Maximum depth: 1006.369722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.369722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.777280; captureRadius = 10; duration = 122; initialDepth = 957.172172; finalDepth = 956.369722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.369722 # Seafloor depth:-1006.369722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1007.172172 meters looking forward 0.000000 meters along route # Maximum depth: 1007.172172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.172172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.777940; captureRadius = 10; duration = 122; initialDepth = 959.991851; finalDepth = 957.172172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.172172 # Seafloor depth:-1007.172172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1009.991851 meters looking forward 0.000000 meters along route # Maximum depth: 1009.991851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.991851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.778601; captureRadius = 10; duration = 122; initialDepth = 959.063653; finalDepth = 959.991851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:959.991851 # Seafloor depth:-1009.991851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1009.063653 meters looking forward 0.000000 meters along route # Maximum depth: 1009.063653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.063653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777881; longitude = -121.779294; captureRadius = 10; duration = 122; initialDepth = 960.171703; finalDepth = 959.063653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:959.063653 # Seafloor depth:-1009.063653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1010.171703 meters looking forward 0.000000 meters along route # Maximum depth: 1010.171703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.171703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.779922; captureRadius = 10; duration = 122; initialDepth = 964.010993; finalDepth = 960.171703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.171703 # Seafloor depth:-1010.171703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1014.010993 meters looking forward 0.000000 meters along route # Maximum depth: 1014.010993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.010993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.780583; captureRadius = 10; duration = 122; initialDepth = 965.549898; finalDepth = 964.010993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:964.010993 # Seafloor depth:-1014.010993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.549898 meters looking forward 0.000000 meters along route # Maximum depth: 1015.549898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.549898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.781244; captureRadius = 10; duration = 122; initialDepth = 963.902625; finalDepth = 965.549898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.549898 # Seafloor depth:-1015.549898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1013.902625 meters looking forward 0.000000 meters along route # Maximum depth: 1013.902625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.902625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.781904; captureRadius = 10; duration = 122; initialDepth = 960.757117; finalDepth = 963.902625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.902625 # Seafloor depth:-1013.902625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1010.757117 meters looking forward 0.000000 meters along route # Maximum depth: 1010.757117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.757117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773718; longitude = -121.782611; captureRadius = 10; duration = 122; initialDepth = 961.538139; finalDepth = 960.757117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.757117 # Seafloor depth:-1010.757117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1011.538139 meters looking forward 0.000000 meters along route # Maximum depth: 1011.538139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.538139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.783225; captureRadius = 10; duration = 122; initialDepth = 965.835518; finalDepth = 961.538139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:961.538139 # Seafloor depth:-1011.538139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.835518 meters looking forward 0.000000 meters along route # Maximum depth: 1015.835518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.835518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.783886; captureRadius = 10; duration = 122; initialDepth = 962.629655; finalDepth = 965.835518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.835518 # Seafloor depth:-1015.835518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1012.629655 meters looking forward 0.000000 meters along route # Maximum depth: 1012.629655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.629655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.784547; captureRadius = 10; duration = 122; initialDepth = 963.508806; finalDepth = 962.629655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.629655 # Seafloor depth:-1012.629655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1013.508806 meters looking forward 0.000000 meters along route # Maximum depth: 1013.508806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.508806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.785207; captureRadius = 10; duration = 122; initialDepth = 965.427317; finalDepth = 963.508806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.508806 # Seafloor depth:-1013.508806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.427317 meters looking forward 0.000000 meters along route # Maximum depth: 1015.427317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.427317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.785868; captureRadius = 10; duration = 122; initialDepth = 969.600708; finalDepth = 965.427317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.427317 # Seafloor depth:-1015.427317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1019.600708 meters looking forward 0.000000 meters along route # Maximum depth: 1019.600708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.600708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.786529; captureRadius = 10; duration = 122; initialDepth = 966.614450; finalDepth = 969.600708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:969.600708 # Seafloor depth:-1019.600708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1016.614450 meters looking forward 0.000000 meters along route # Maximum depth: 1016.614450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.614450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.787189; captureRadius = 10; duration = 122; initialDepth = 965.461933; finalDepth = 966.614450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.61445 # Seafloor depth:-1016.614450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.461933 meters looking forward 0.000000 meters along route # Maximum depth: 1015.461933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.461933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767126; longitude = -121.787862; captureRadius = 10; duration = 122; initialDepth = 965.983753; finalDepth = 965.461933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.461933 # Seafloor depth:-1015.461933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.983753 meters looking forward 0.000000 meters along route # Maximum depth: 1015.983753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.983753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.788510; captureRadius = 10; duration = 122; initialDepth = 965.415921; finalDepth = 965.983753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.983753 # Seafloor depth:-1015.983753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.415921 meters looking forward 0.000000 meters along route # Maximum depth: 1015.415921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.415921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.789171; captureRadius = 10; duration = 122; initialDepth = 965.363687; finalDepth = 965.415921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.415921 # Seafloor depth:-1015.415921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.363687 meters looking forward 0.000000 meters along route # Maximum depth: 1015.363687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.363687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.789832; captureRadius = 10; duration = 122; initialDepth = 966.991972; finalDepth = 965.363687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.363687 # Seafloor depth:-1015.363687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1016.991972 meters looking forward 0.000000 meters along route # Maximum depth: 1016.991972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.991972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.790492; captureRadius = 10; duration = 122; initialDepth = 968.620445; finalDepth = 966.991972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.991972 # Seafloor depth:-1016.991972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1018.620445 meters looking forward 0.000000 meters along route # Maximum depth: 1018.620445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.620445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762963; longitude = -121.791179; captureRadius = 10; duration = 122; initialDepth = 969.520831; finalDepth = 968.620445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.620445 # Seafloor depth:-1018.620445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1019.520831 meters looking forward 0.000000 meters along route # Maximum depth: 1019.520831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.520831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.791814; captureRadius = 10; duration = 122; initialDepth = 966.606120; finalDepth = 969.520831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:969.520831 # Seafloor depth:-1019.520831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1016.606120 meters looking forward 0.000000 meters along route # Maximum depth: 1016.606120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.606120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.792474; captureRadius = 10; duration = 122; initialDepth = 967.212795; finalDepth = 966.606120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.60612 # Seafloor depth:-1016.606120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1017.212795 meters looking forward 0.000000 meters along route # Maximum depth: 1017.212795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.212795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.793135; captureRadius = 10; duration = 122; initialDepth = 965.458354; finalDepth = 967.212795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.212795 # Seafloor depth:-1017.212795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.458354 meters looking forward 0.000000 meters along route # Maximum depth: 1015.458354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.458354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.793795; captureRadius = 10; duration = 122; initialDepth = 972.956653; finalDepth = 965.458354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.458354 # Seafloor depth:-1015.458354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1022.956653 meters looking forward 0.000000 meters along route # Maximum depth: 1022.956653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.956653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758799; longitude = -121.794496; captureRadius = 10; duration = 122; initialDepth = 970.671830; finalDepth = 972.956653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.956653 # Seafloor depth:-1022.956653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1020.671830 meters looking forward 0.000000 meters along route # Maximum depth: 1020.671830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.671830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.795117; captureRadius = 10; duration = 122; initialDepth = 970.002176; finalDepth = 970.671830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.67183 # Seafloor depth:-1020.671830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1020.002176 meters looking forward 0.000000 meters along route # Maximum depth: 1020.002176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.002176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.795777; captureRadius = 10; duration = 122; initialDepth = 965.388470; finalDepth = 970.002176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.002176 # Seafloor depth:-1020.002176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.388470 meters looking forward 0.000000 meters along route # Maximum depth: 1015.388470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.388470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.796438; captureRadius = 10; duration = 122; initialDepth = 967.776199; finalDepth = 965.388470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.38847 # Seafloor depth:-1015.388470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1017.776199 meters looking forward 0.000000 meters along route # Maximum depth: 1017.776199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.776199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.797099; captureRadius = 10; duration = 122; initialDepth = 967.360324; finalDepth = 967.776199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.776199 # Seafloor depth:-1017.776199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1017.360324 meters looking forward 0.000000 meters along route # Maximum depth: 1017.360324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.360324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754636; longitude = -121.797813; captureRadius = 10; duration = 122; initialDepth = 968.376738; finalDepth = 967.360324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.360324 # Seafloor depth:-1017.360324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1018.376738 meters looking forward 0.000000 meters along route # Maximum depth: 1018.376738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.376738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.798420; captureRadius = 10; duration = 122; initialDepth = 967.972611; finalDepth = 968.376738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.376738 # Seafloor depth:-1018.376738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1017.972611 meters looking forward 0.000000 meters along route # Maximum depth: 1017.972611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.972611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.799080; captureRadius = 10; duration = 122; initialDepth = 965.948591; finalDepth = 967.972611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.972611 # Seafloor depth:-1017.972611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1015.948591 meters looking forward 0.000000 meters along route # Maximum depth: 1015.948591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.948591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752208; longitude = -121.799748; captureRadius = 10; duration = 122; initialDepth = 967.305019; finalDepth = 965.948591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.948591 # Seafloor depth:-1015.948591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1017.305019 meters looking forward 0.000000 meters along route # Maximum depth: 1017.305019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.305019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.800402; captureRadius = 10; duration = 122; initialDepth = 968.741366; finalDepth = 967.305019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.305019 # Seafloor depth:-1017.305019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1018.741366 meters looking forward 0.000000 meters along route # Maximum depth: 1018.741366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.741366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.801062; captureRadius = 10; duration = 122; initialDepth = 967.366598; finalDepth = 968.741366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.741366 # Seafloor depth:-1018.741366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1017.366598 meters looking forward 0.000000 meters along route # Maximum depth: 1017.366598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.366598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.801723; captureRadius = 10; duration = 122; initialDepth = 968.051690; finalDepth = 967.366598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.366598 # Seafloor depth:-1017.366598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1018.051690 meters looking forward 0.000000 meters along route # Maximum depth: 1018.051690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.051690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.802384; captureRadius = 10; duration = 122; initialDepth = 971.952396; finalDepth = 968.051690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.05169 # Seafloor depth:-1018.051690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1021.952396 meters looking forward 0.000000 meters along route # Maximum depth: 1021.952396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.952396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748044; longitude = -121.803065; captureRadius = 10; duration = 122; initialDepth = 970.977194; finalDepth = 971.952396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:971.952396 # Seafloor depth:-1021.952396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1020.977194 meters looking forward 0.000000 meters along route # Maximum depth: 1020.977194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.977194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.803705; captureRadius = 10; duration = 122; initialDepth = 969.946488; finalDepth = 970.977194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.977194 # Seafloor depth:-1020.977194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1019.946488 meters looking forward 0.000000 meters along route # Maximum depth: 1019.946488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.946488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.804365; captureRadius = 10; duration = 122; initialDepth = 971.667487; finalDepth = 969.946488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:969.946488 # Seafloor depth:-1019.946488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1021.667487 meters looking forward 0.000000 meters along route # Maximum depth: 1021.667487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.667487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.805026; captureRadius = 10; duration = 122; initialDepth = 971.696507; finalDepth = 971.667487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:971.667487 # Seafloor depth:-1021.667487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1021.696507 meters looking forward 0.000000 meters along route # Maximum depth: 1021.696507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.696507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.805687; captureRadius = 10; duration = 122; initialDepth = 970.815489; finalDepth = 971.696507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:971.696507 # Seafloor depth:-1021.696507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1020.815489 meters looking forward 0.000000 meters along route # Maximum depth: 1020.815489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.815489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743881; longitude = -121.806382; captureRadius = 10; duration = 122; initialDepth = 974.106493; finalDepth = 970.815489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.815489 # Seafloor depth:-1020.815489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1024.106493 meters looking forward 0.000000 meters along route # Maximum depth: 1024.106493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.106493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.807008; captureRadius = 10; duration = 122; initialDepth = 977.125610; finalDepth = 974.106493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.106493 # Seafloor depth:-1024.106493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1027.125610 meters looking forward 0.000000 meters along route # Maximum depth: 1027.125610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.125610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.807669; captureRadius = 10; duration = 122; initialDepth = 978.284708; finalDepth = 977.125610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.12561 # Seafloor depth:-1027.125610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.284708 meters looking forward 0.000000 meters along route # Maximum depth: 1028.284708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.284708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.808329; captureRadius = 10; duration = 122; initialDepth = 977.920717; finalDepth = 978.284708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.284708 # Seafloor depth:-1028.284708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1027.920717 meters looking forward 0.000000 meters along route # Maximum depth: 1027.920717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.920717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.808990; captureRadius = 10; duration = 122; initialDepth = 974.747310; finalDepth = 977.920717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.920717 # Seafloor depth:-1027.920717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1024.747310 meters looking forward 0.000000 meters along route # Maximum depth: 1024.747310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.747310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739718; longitude = -121.809698; captureRadius = 10; duration = 122; initialDepth = 977.761481; finalDepth = 974.747310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.74731 # Seafloor depth:-1024.747310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1027.761481 meters looking forward 0.000000 meters along route # Maximum depth: 1027.761481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.761481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.810311; captureRadius = 10; duration = 122; initialDepth = 974.525947; finalDepth = 977.761481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.761481 # Seafloor depth:-1027.761481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1024.525947 meters looking forward 0.000000 meters along route # Maximum depth: 1024.525947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.525947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.810972; captureRadius = 10; duration = 122; initialDepth = 988.985389; finalDepth = 974.525947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.525947 # Seafloor depth:-1024.525947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1038.985389 meters looking forward 0.000000 meters along route # Maximum depth: 1038.985389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.985389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737289; longitude = -121.811633; captureRadius = 10; duration = 122; initialDepth = 979.618797; finalDepth = 988.985389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.985389 # Seafloor depth:-1038.985389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1029.618797 meters looking forward 0.000000 meters along route # Maximum depth: 1029.618797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.618797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.812293; captureRadius = 10; duration = 122; initialDepth = 975.121445; finalDepth = 979.618797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.618797 # Seafloor depth:-1029.618797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1025.121445 meters looking forward 0.000000 meters along route # Maximum depth: 1025.121445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.121445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.812954; captureRadius = 10; duration = 122; initialDepth = 975.400092; finalDepth = 975.121445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.121445 # Seafloor depth:-1025.121445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1025.400092 meters looking forward 0.000000 meters along route # Maximum depth: 1025.400092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.400092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.813614; captureRadius = 10; duration = 122; initialDepth = 976.543037; finalDepth = 975.400092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.400092 # Seafloor depth:-1025.400092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1026.543037 meters looking forward 0.000000 meters along route # Maximum depth: 1026.543037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.543037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.814275; captureRadius = 10; duration = 122; initialDepth = 977.232732; finalDepth = 976.543037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.543037 # Seafloor depth:-1026.543037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1027.232732 meters looking forward 0.000000 meters along route # Maximum depth: 1027.232732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.232732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733126; longitude = -121.814950; captureRadius = 10; duration = 122; initialDepth = 974.572637; finalDepth = 977.232732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.232732 # Seafloor depth:-1027.232732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1024.572637 meters looking forward 0.000000 meters along route # Maximum depth: 1024.572637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.572637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.815596; captureRadius = 10; duration = 122; initialDepth = 978.142667; finalDepth = 974.572637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.572637 # Seafloor depth:-1024.572637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.142667 meters looking forward 0.000000 meters along route # Maximum depth: 1028.142667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.142667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.816257; captureRadius = 10; duration = 122; initialDepth = 978.624290; finalDepth = 978.142667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.142667 # Seafloor depth:-1028.142667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.624290 meters looking forward 0.000000 meters along route # Maximum depth: 1028.624290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.624290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.816917; captureRadius = 10; duration = 122; initialDepth = 976.121154; finalDepth = 978.624290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.62429 # Seafloor depth:-1028.624290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1026.121154 meters looking forward 0.000000 meters along route # Maximum depth: 1026.121154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.121154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.817578; captureRadius = 10; duration = 122; initialDepth = 976.943239; finalDepth = 976.121154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.121154 # Seafloor depth:-1026.121154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1026.943239 meters looking forward 0.000000 meters along route # Maximum depth: 1026.943239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.943239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728963; longitude = -121.818267; captureRadius = 10; duration = 122; initialDepth = 976.165474; finalDepth = 976.943239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.943239 # Seafloor depth:-1026.943239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1026.165474 meters looking forward 0.000000 meters along route # Maximum depth: 1026.165474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.165474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.818899; captureRadius = 10; duration = 122; initialDepth = 977.508769; finalDepth = 976.165474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.165474 # Seafloor depth:-1026.165474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1027.508769 meters looking forward 0.000000 meters along route # Maximum depth: 1027.508769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.508769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727340; longitude = -121.819560; captureRadius = 10; duration = 122; initialDepth = 979.349911; finalDepth = 977.508769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.508769 # Seafloor depth:-1027.508769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1029.349911 meters looking forward 0.000000 meters along route # Maximum depth: 1029.349911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.349911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.820220; captureRadius = 10; duration = 122; initialDepth = 979.997471; finalDepth = 979.349911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.349911 # Seafloor depth:-1029.349911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1029.997471 meters looking forward 0.000000 meters along route # Maximum depth: 1029.997471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.997471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.820881; captureRadius = 10; duration = 122; initialDepth = 976.324315; finalDepth = 979.997471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.997471 # Seafloor depth:-1029.997471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1026.324315 meters looking forward 0.000000 meters along route # Maximum depth: 1026.324315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.324315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724799; longitude = -121.821584; captureRadius = 10; duration = 122; initialDepth = 978.062878; finalDepth = 976.324315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.324315 # Seafloor depth:-1026.324315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.062878 meters looking forward 0.000000 meters along route # Maximum depth: 1028.062878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.062878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.822202; captureRadius = 10; duration = 122; initialDepth = 976.053298; finalDepth = 978.062878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.062878 # Seafloor depth:-1028.062878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1026.053298 meters looking forward 0.000000 meters along route # Maximum depth: 1026.053298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.053298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.822863; captureRadius = 10; duration = 122; initialDepth = 978.954934; finalDepth = 976.053298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.053298 # Seafloor depth:-1026.053298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.954934 meters looking forward 0.000000 meters along route # Maximum depth: 1028.954934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.954934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722364; longitude = -121.823524; captureRadius = 10; duration = 122; initialDepth = 978.804759; finalDepth = 978.954934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.954934 # Seafloor depth:-1028.954934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.804759 meters looking forward 0.000000 meters along route # Maximum depth: 1028.804759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.804759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.824184; captureRadius = 10; duration = 122; initialDepth = 978.573686; finalDepth = 978.804759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.804759 # Seafloor depth:-1028.804759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.573686 meters looking forward 0.000000 meters along route # Maximum depth: 1028.573686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.573686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720636; longitude = -121.824901; captureRadius = 10; duration = 122; initialDepth = 981.035521; finalDepth = 978.573686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.573686 # Seafloor depth:-1028.573686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1031.035521 meters looking forward 0.000000 meters along route # Maximum depth: 1031.035521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.035521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719877; longitude = -121.825505; captureRadius = 10; duration = 122; initialDepth = 980.654451; finalDepth = 981.035521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.035521 # Seafloor depth:-1031.035521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1030.654451 meters looking forward 0.000000 meters along route # Maximum depth: 1030.654451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.654451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.826166; captureRadius = 10; duration = 122; initialDepth = 978.472212; finalDepth = 980.654451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.654451 # Seafloor depth:-1030.654451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1028.472212 meters looking forward 0.000000 meters along route # Maximum depth: 1028.472212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.472212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718207; longitude = -121.826835; captureRadius = 10; duration = 122; initialDepth = 983.401377; finalDepth = 978.472212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.472212 # Seafloor depth:-1028.472212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1033.401377 meters looking forward 0.000000 meters along route # Maximum depth: 1033.401377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.401377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.827487; captureRadius = 10; duration = 122; initialDepth = 982.160996; finalDepth = 983.401377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.401377 # Seafloor depth:-1033.401377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.463554 meters # Minimum depth: 1032.160996 meters looking forward 0.000000 meters along route # Maximum depth: 1032.160996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1032.874908 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.160996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716473; longitude = -121.828217; captureRadius = 10; duration = 122; initialDepth = 981.791779; finalDepth = 982.160996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.160996 # Seafloor depth:-1032.160996 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:981.791779 # Seafloor depth:-1031.791779 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 122.463554 meters # Minimum depth: 1031.791779 meters looking forward 0.000000 meters along route # Maximum depth: 1031.791779 meters looking forward 0.000000 meters along route # Vehicle depth: 981.791779 meters behavior waypoint { latitude = 35.715547; longitude = -121.828955; captureRadius = 10; duration = 245; depth = 981.791779; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 981.791779 meters set by local depth and desired altitude behavior descend { duration = 2969; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 971.791779; minAltitude = 50.000000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 122.463554 meters # Minimum depth: 1031.791779 meters looking forward 0.000000 meters along route # Maximum depth: 1031.791779 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.715547; longitude = -121.828955; captureRadius = 10; duration = 600; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 32.302112; 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 = 32.302112; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################