# 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_2v2.rte # Mission File: Lucia2008_2v2.cfg # Distance: 84925.580990 (m) # Estimated Time: 59471 (s) 16.520 (hr) # Abort Time: 61715 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1284 (s) # Way Points: 22 # Route Points: 788 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 83 # 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: 1056.137376 (m) # Abort Vehicle Depth: 1081.137376 (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 -121.834114 35.741344 -1049.470622 0.000000 3 # 1 -121.845221 35.727339 -1050.365143 1849.969327 4 # 2 -121.846611 35.728076 -1051.576904 1999.969327 3 # 3 -121.797352 35.789715 -1043.879150 10159.846993 4 # 4 -121.798800 35.790450 -1040.146973 10313.991946 3 # 5 -121.848001 35.728814 -1052.108917 18470.835173 4 # 6 -121.849392 35.729551 -1055.090759 18620.835173 3 # 7 -121.800191 35.791188 -1038.883270 26777.678400 4 # 8 -121.801582 35.791925 -1047.080109 26927.678400 3 # 9 -121.850782 35.730288 -1056.861755 35084.521628 4 # 10 -121.852172 35.731025 -1058.911163 35234.521628 3 # 11 -121.802973 35.792663 -1041.883240 43391.364855 4 # 12 -121.804364 35.793401 -1044.386169 43541.364855 3 # 13 -121.853563 35.731762 -1066.964417 51698.208082 4 # 14 -121.854953 35.732499 -1061.434174 51848.208082 3 # 15 -121.805755 35.794139 -1049.929382 60005.051309 4 # 16 -121.807146 35.794876 -1052.913147 60155.051309 3 # 17 -121.856344 35.733236 -1063.856110 68311.894536 4 # 18 -121.857734 35.733974 -1066.797455 68461.894536 3 # 19 -121.808537 35.795614 -1050.559998 76618.737763 4 # 20 -121.809928 35.796352 -1052.270355 76768.737763 3 # 21 -121.859125 35.734711 -1070.619263 84925.580990 4 # # A total of 788 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61715; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1056.137376; abortDepth = 1081.137376; 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 = 1284; 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 21 # Segment length 122.767258 meters # Minimum depth: 1070.619263 meters looking forward 0.000000 meters along route # Maximum depth: 1070.619263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.619263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734711; longitude = -121.859125; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1020.536216; finalDepth = 1020.619263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.619263 # Seafloor depth:-1070.619263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.536216 meters looking forward 0.000000 meters along route # Maximum depth: 1070.536216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.536216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.859051; captureRadius = 10; duration = 122; initialDepth = 1017.794404; finalDepth = 1020.536216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.536216 # Seafloor depth:-1070.536216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1067.794404 meters looking forward 0.000000 meters along route # Maximum depth: 1067.794404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.794404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735687; longitude = -121.858345; captureRadius = 10; duration = 122; initialDepth = 1016.879504; finalDepth = 1017.794404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.794404 # Seafloor depth:-1067.794404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1066.879504 meters looking forward 0.000000 meters along route # Maximum depth: 1066.879504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.879504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.857728; captureRadius = 10; duration = 122; initialDepth = 1019.018579; finalDepth = 1016.879504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.879504 # Seafloor depth:-1066.879504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1069.018579 meters looking forward 0.000000 meters along route # Maximum depth: 1069.018579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.018579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.857066; captureRadius = 10; duration = 122; initialDepth = 1017.486640; finalDepth = 1019.018579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.018579 # Seafloor depth:-1069.018579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1067.486640 meters looking forward 0.000000 meters along route # Maximum depth: 1067.486640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.486640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.856404; captureRadius = 10; duration = 122; initialDepth = 1017.555048; finalDepth = 1017.486640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.48664 # Seafloor depth:-1067.486640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1067.555048 meters looking forward 0.000000 meters along route # Maximum depth: 1067.555048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.555048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.855742; captureRadius = 10; duration = 122; initialDepth = 1018.901663; finalDepth = 1017.555048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.555048 # Seafloor depth:-1067.555048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1068.901663 meters looking forward 0.000000 meters along route # Maximum depth: 1068.901663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.901663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739843; longitude = -121.855029; captureRadius = 10; duration = 122; initialDepth = 1018.601896; finalDepth = 1018.901663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.901663 # Seafloor depth:-1068.901663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1068.601896 meters looking forward 0.000000 meters along route # Maximum depth: 1068.601896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.601896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.854419; captureRadius = 10; duration = 122; initialDepth = 1023.581267; finalDepth = 1018.601896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.601896 # Seafloor depth:-1068.601896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1073.581267 meters looking forward 0.000000 meters along route # Maximum depth: 1073.581267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.581267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.853757; captureRadius = 10; duration = 122; initialDepth = 1020.007389; finalDepth = 1023.581267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.581267 # Seafloor depth:-1073.581267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.007389 meters looking forward 0.000000 meters along route # Maximum depth: 1070.007389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.007389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742267; longitude = -121.853094; captureRadius = 10; duration = 122; initialDepth = 1018.111072; finalDepth = 1020.007389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.007389 # Seafloor depth:-1070.007389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1068.111072 meters looking forward 0.000000 meters along route # Maximum depth: 1068.111072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.111072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.852433; captureRadius = 10; duration = 122; initialDepth = 1017.897865; finalDepth = 1018.111072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.111072 # Seafloor depth:-1068.111072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1067.897865 meters looking forward 0.000000 meters along route # Maximum depth: 1067.897865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.897865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.851771; captureRadius = 10; duration = 122; initialDepth = 1019.044262; finalDepth = 1017.897865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.897865 # Seafloor depth:-1067.897865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1069.044262 meters looking forward 0.000000 meters along route # Maximum depth: 1069.044262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.044262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.851110; captureRadius = 10; duration = 122; initialDepth = 1019.379086; finalDepth = 1019.044262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.044262 # Seafloor depth:-1069.044262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1069.379086 meters looking forward 0.000000 meters along route # Maximum depth: 1069.379086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.379086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.850448; captureRadius = 10; duration = 122; initialDepth = 1020.944085; finalDepth = 1019.379086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.379086 # Seafloor depth:-1069.379086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.944085 meters looking forward 0.000000 meters along route # Maximum depth: 1070.944085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.944085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746423; longitude = -121.849777; captureRadius = 10; duration = 122; initialDepth = 1018.055137; finalDepth = 1020.944085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.944085 # Seafloor depth:-1070.944085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1068.055137 meters looking forward 0.000000 meters along route # Maximum depth: 1068.055137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.055137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.849124; captureRadius = 10; duration = 122; initialDepth = 1020.246584; finalDepth = 1018.055137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.055137 # Seafloor depth:-1068.055137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.246584 meters looking forward 0.000000 meters along route # Maximum depth: 1070.246584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.246584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.848462; captureRadius = 10; duration = 122; initialDepth = 1017.517603; finalDepth = 1020.246584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.246584 # Seafloor depth:-1070.246584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1067.517603 meters looking forward 0.000000 meters along route # Maximum depth: 1067.517603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.517603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.847801; captureRadius = 10; duration = 122; initialDepth = 1019.521892; finalDepth = 1017.517603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.517603 # Seafloor depth:-1067.517603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1069.521892 meters looking forward 0.000000 meters along route # Maximum depth: 1069.521892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.521892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.847139; captureRadius = 10; duration = 122; initialDepth = 1021.103795; finalDepth = 1019.521892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.521892 # Seafloor depth:-1069.521892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1071.103795 meters looking forward 0.000000 meters along route # Maximum depth: 1071.103795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.103795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750579; longitude = -121.846460; captureRadius = 10; duration = 122; initialDepth = 1021.887457; finalDepth = 1021.103795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.103795 # Seafloor depth:-1071.103795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1071.887457 meters looking forward 0.000000 meters along route # Maximum depth: 1071.887457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.887457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.845815; captureRadius = 10; duration = 122; initialDepth = 1018.869255; finalDepth = 1021.887457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.887457 # Seafloor depth:-1071.887457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1068.869255 meters looking forward 0.000000 meters along route # Maximum depth: 1068.869255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.869255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.845153; captureRadius = 10; duration = 122; initialDepth = 1021.727615; finalDepth = 1018.869255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.869255 # Seafloor depth:-1068.869255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1071.727615 meters looking forward 0.000000 meters along route # Maximum depth: 1071.727615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.727615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.844491; captureRadius = 10; duration = 122; initialDepth = 1021.112241; finalDepth = 1021.727615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.727615 # Seafloor depth:-1071.727615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1071.112241 meters looking forward 0.000000 meters along route # Maximum depth: 1071.112241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.112241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.843830; captureRadius = 10; duration = 122; initialDepth = 1024.378612; finalDepth = 1021.112241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.112241 # Seafloor depth:-1071.112241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1074.378612 meters looking forward 0.000000 meters along route # Maximum depth: 1074.378612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.378612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754735; longitude = -121.843143; captureRadius = 10; duration = 122; initialDepth = 1020.134058; finalDepth = 1024.378612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.378612 # Seafloor depth:-1074.378612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.134058 meters looking forward 0.000000 meters along route # Maximum depth: 1070.134058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.134058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.842506; captureRadius = 10; duration = 122; initialDepth = 1028.861979; finalDepth = 1020.134058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.134058 # Seafloor depth:-1070.134058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1078.861979 meters looking forward 0.000000 meters along route # Maximum depth: 1078.861979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.861979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.841844; captureRadius = 10; duration = 122; initialDepth = 1023.367033; finalDepth = 1028.861979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.861979 # Seafloor depth:-1078.861979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1073.367033 meters looking forward 0.000000 meters along route # Maximum depth: 1073.367033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.367033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.841182; captureRadius = 10; duration = 122; initialDepth = 1020.405541; finalDepth = 1023.367033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.367033 # Seafloor depth:-1073.367033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.405541 meters looking forward 0.000000 meters along route # Maximum depth: 1070.405541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.405541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.840521; captureRadius = 10; duration = 122; initialDepth = 1020.548562; finalDepth = 1020.405541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.405541 # Seafloor depth:-1070.405541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.548562 meters looking forward 0.000000 meters along route # Maximum depth: 1070.548562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.548562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758890; longitude = -121.839826; captureRadius = 10; duration = 122; initialDepth = 1020.323817; finalDepth = 1020.548562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.548562 # Seafloor depth:-1070.548562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.323817 meters looking forward 0.000000 meters along route # Maximum depth: 1070.323817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.323817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.839197; captureRadius = 10; duration = 122; initialDepth = 1016.989020; finalDepth = 1020.323817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.323817 # Seafloor depth:-1070.323817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1066.989020 meters looking forward 0.000000 meters along route # Maximum depth: 1066.989020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.989020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.838535; captureRadius = 10; duration = 122; initialDepth = 1019.566109; finalDepth = 1016.989020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.98902 # Seafloor depth:-1066.989020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1069.566109 meters looking forward 0.000000 meters along route # Maximum depth: 1069.566109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.566109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.837873; captureRadius = 10; duration = 122; initialDepth = 1017.520845; finalDepth = 1019.566109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.566109 # Seafloor depth:-1069.566109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1067.520845 meters looking forward 0.000000 meters along route # Maximum depth: 1067.520845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.520845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.837212; captureRadius = 10; duration = 122; initialDepth = 1022.028872; finalDepth = 1017.520845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.520845 # Seafloor depth:-1067.520845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1072.028872 meters looking forward 0.000000 meters along route # Maximum depth: 1072.028872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.028872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763046; longitude = -121.836510; captureRadius = 10; duration = 122; initialDepth = 1016.119607; finalDepth = 1022.028872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.028872 # Seafloor depth:-1072.028872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1066.119607 meters looking forward 0.000000 meters along route # Maximum depth: 1066.119607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.119607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.835888; captureRadius = 10; duration = 122; initialDepth = 1018.700156; finalDepth = 1016.119607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.119607 # Seafloor depth:-1066.119607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1068.700156 meters looking forward 0.000000 meters along route # Maximum depth: 1068.700156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.700156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.835226; captureRadius = 10; duration = 122; initialDepth = 1015.156835; finalDepth = 1018.700156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.700156 # Seafloor depth:-1068.700156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.156835 meters looking forward 0.000000 meters along route # Maximum depth: 1065.156835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.156835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.834564; captureRadius = 10; duration = 122; initialDepth = 1015.653148; finalDepth = 1015.156835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.156835 # Seafloor depth:-1065.156835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.653148 meters looking forward 0.000000 meters along route # Maximum depth: 1065.653148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.653148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.833902; captureRadius = 10; duration = 122; initialDepth = 1014.678817; finalDepth = 1015.653148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.653148 # Seafloor depth:-1065.653148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1064.678817 meters looking forward 0.000000 meters along route # Maximum depth: 1064.678817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.678817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767202; longitude = -121.833193; captureRadius = 10; duration = 122; initialDepth = 1014.945430; finalDepth = 1014.678817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.678817 # Seafloor depth:-1064.678817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1064.945430 meters looking forward 0.000000 meters along route # Maximum depth: 1064.945430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.945430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.832579; captureRadius = 10; duration = 122; initialDepth = 1016.455501; finalDepth = 1014.945430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.94543 # Seafloor depth:-1064.945430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1066.455501 meters looking forward 0.000000 meters along route # Maximum depth: 1066.455501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.455501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.831917; captureRadius = 10; duration = 122; initialDepth = 1020.264597; finalDepth = 1016.455501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.455501 # Seafloor depth:-1066.455501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.264597 meters looking forward 0.000000 meters along route # Maximum depth: 1070.264597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.264597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.831255; captureRadius = 10; duration = 122; initialDepth = 1021.679852; finalDepth = 1020.264597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.264597 # Seafloor depth:-1070.264597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1071.679852 meters looking forward 0.000000 meters along route # Maximum depth: 1071.679852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.679852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.830593; captureRadius = 10; duration = 122; initialDepth = 1015.453771; finalDepth = 1021.679852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.679852 # Seafloor depth:-1071.679852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.453771 meters looking forward 0.000000 meters along route # Maximum depth: 1065.453771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.453771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771358; longitude = -121.829876; captureRadius = 10; duration = 122; initialDepth = 1014.697255; finalDepth = 1015.453771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.453771 # Seafloor depth:-1065.453771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1064.697255 meters looking forward 0.000000 meters along route # Maximum depth: 1064.697255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.697255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.829270; captureRadius = 10; duration = 122; initialDepth = 1015.609826; finalDepth = 1014.697255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.697255 # Seafloor depth:-1064.697255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.609826 meters looking forward 0.000000 meters along route # Maximum depth: 1065.609826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.609826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.828608; captureRadius = 10; duration = 122; initialDepth = 1016.899226; finalDepth = 1015.609826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.609826 # Seafloor depth:-1065.609826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1066.899226 meters looking forward 0.000000 meters along route # Maximum depth: 1066.899226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.899226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773782; longitude = -121.827941; captureRadius = 10; duration = 122; initialDepth = 1016.195155; finalDepth = 1016.899226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.899226 # Seafloor depth:-1066.899226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1066.195155 meters looking forward 0.000000 meters along route # Maximum depth: 1066.195155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.195155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.827284; captureRadius = 10; duration = 122; initialDepth = 1019.871950; finalDepth = 1016.195155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.195155 # Seafloor depth:-1066.195155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1069.871950 meters looking forward 0.000000 meters along route # Maximum depth: 1069.871950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.871950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.826623; captureRadius = 10; duration = 122; initialDepth = 1024.081302; finalDepth = 1019.871950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.87195 # Seafloor depth:-1069.871950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1074.081302 meters looking forward 0.000000 meters along route # Maximum depth: 1074.081302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.081302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.825961; captureRadius = 10; duration = 122; initialDepth = 1020.299862; finalDepth = 1024.081302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.081302 # Seafloor depth:-1074.081302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1070.299862 meters looking forward 0.000000 meters along route # Maximum depth: 1070.299862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.299862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.825299; captureRadius = 10; duration = 122; initialDepth = 1014.379379; finalDepth = 1020.299862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.299862 # Seafloor depth:-1070.299862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1064.379379 meters looking forward 0.000000 meters along route # Maximum depth: 1064.379379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.379379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777938; longitude = -121.824624; captureRadius = 10; duration = 122; initialDepth = 1014.927722; finalDepth = 1014.379379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.379379 # Seafloor depth:-1064.379379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1064.927722 meters looking forward 0.000000 meters along route # Maximum depth: 1064.927722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.927722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.823975; captureRadius = 10; duration = 122; initialDepth = 1013.219300; finalDepth = 1014.927722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.927722 # Seafloor depth:-1064.927722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1063.219300 meters looking forward 0.000000 meters along route # Maximum depth: 1063.219300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.219300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.823314; captureRadius = 10; duration = 122; initialDepth = 1017.637479; finalDepth = 1013.219300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.2193 # Seafloor depth:-1063.219300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1067.637479 meters looking forward 0.000000 meters along route # Maximum depth: 1067.637479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.637479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.822652; captureRadius = 10; duration = 122; initialDepth = 1022.975854; finalDepth = 1017.637479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.637479 # Seafloor depth:-1067.637479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1072.975854 meters looking forward 0.000000 meters along route # Maximum depth: 1072.975854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.975854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.821990; captureRadius = 10; duration = 122; initialDepth = 1026.284569; finalDepth = 1022.975854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.975854 # Seafloor depth:-1072.975854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1076.284569 meters looking forward 0.000000 meters along route # Maximum depth: 1076.284569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.284569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782094; longitude = -121.821307; captureRadius = 10; duration = 122; initialDepth = 1028.920099; finalDepth = 1026.284569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.284569 # Seafloor depth:-1076.284569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1078.920099 meters looking forward 0.000000 meters along route # Maximum depth: 1078.920099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.920099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.820666; captureRadius = 10; duration = 122; initialDepth = 1031.137376; finalDepth = 1028.920099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.920099 # Seafloor depth:-1078.920099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1081.137376 meters looking forward 0.000000 meters along route # Maximum depth: 1081.137376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.137376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.820004; captureRadius = 10; duration = 122; initialDepth = 1021.062175; finalDepth = 1031.137376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.137376 # Seafloor depth:-1081.137376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1071.062175 meters looking forward 0.000000 meters along route # Maximum depth: 1071.062175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.062175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.819343; captureRadius = 10; duration = 122; initialDepth = 1015.244577; finalDepth = 1021.062175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.062175 # Seafloor depth:-1071.062175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.244577 meters looking forward 0.000000 meters along route # Maximum depth: 1065.244577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.244577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.818681; captureRadius = 10; duration = 122; initialDepth = 1015.059917; finalDepth = 1015.244577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.244577 # Seafloor depth:-1065.244577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.059917 meters looking forward 0.000000 meters along route # Maximum depth: 1065.059917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.059917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786249; longitude = -121.817990; captureRadius = 10; duration = 122; initialDepth = 1016.918565; finalDepth = 1015.059917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.059917 # Seafloor depth:-1065.059917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1066.918565 meters looking forward 0.000000 meters along route # Maximum depth: 1066.918565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.918565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.817357; captureRadius = 10; duration = 122; initialDepth = 1012.810933; finalDepth = 1016.918565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.918565 # Seafloor depth:-1066.918565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1062.810933 meters looking forward 0.000000 meters along route # Maximum depth: 1062.810933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.810933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.816695; captureRadius = 10; duration = 122; initialDepth = 1011.803003; finalDepth = 1012.810933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.810933 # Seafloor depth:-1062.810933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1061.803003 meters looking forward 0.000000 meters along route # Maximum depth: 1061.803003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.803003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.816034; captureRadius = 10; duration = 122; initialDepth = 1009.121054; finalDepth = 1011.803003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.803003 # Seafloor depth:-1061.803003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1059.121054 meters looking forward 0.000000 meters along route # Maximum depth: 1059.121054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.121054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.815372; captureRadius = 10; duration = 122; initialDepth = 1009.997587; finalDepth = 1009.121054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.121054 # Seafloor depth:-1059.121054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1059.997587 meters looking forward 0.000000 meters along route # Maximum depth: 1059.997587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.997587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790405; longitude = -121.814674; captureRadius = 10; duration = 122; initialDepth = 1015.289827; finalDepth = 1009.997587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.997587 # Seafloor depth:-1059.997587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.289827 meters looking forward 0.000000 meters along route # Maximum depth: 1065.289827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.289827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.814048; captureRadius = 10; duration = 122; initialDepth = 1015.688241; finalDepth = 1015.289827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.289827 # Seafloor depth:-1065.289827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1065.688241 meters looking forward 0.000000 meters along route # Maximum depth: 1065.688241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.688241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.813386; captureRadius = 10; duration = 122; initialDepth = 1010.162127; finalDepth = 1015.688241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.688241 # Seafloor depth:-1065.688241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1060.162127 meters looking forward 0.000000 meters along route # Maximum depth: 1060.162127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.162127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.812725; captureRadius = 10; duration = 122; initialDepth = 1007.704321; finalDepth = 1010.162127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.162127 # Seafloor depth:-1060.162127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1057.704321 meters looking forward 0.000000 meters along route # Maximum depth: 1057.704321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.704321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.812063; captureRadius = 10; duration = 122; initialDepth = 1005.752875; finalDepth = 1007.704321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.704321 # Seafloor depth:-1057.704321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1055.752875 meters looking forward 0.000000 meters along route # Maximum depth: 1055.752875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.752875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794561; longitude = -121.811357; captureRadius = 10; duration = 122; initialDepth = 1001.495542; finalDepth = 1005.752875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.752875 # Seafloor depth:-1055.752875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 122.767258 meters # Minimum depth: 1051.495542 meters looking forward 0.000000 meters along route # Maximum depth: 1051.495542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.495542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.810739; captureRadius = 10; duration = 122; initialDepth = 1002.270355; finalDepth = 1001.495542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.495542 # Seafloor depth:-1051.495542 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 20 # Segment length 122.767258 meters # Minimum depth: 1052.270355 meters looking forward 0.000000 meters along route # Maximum depth: 1052.270355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.270355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796352; longitude = -121.809928; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1001.276209; finalDepth = 1002.270355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.270355 # Seafloor depth:-1052.270355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.276209 meters looking forward 0.000000 meters along route # Maximum depth: 1051.276209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.276209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.809575; captureRadius = 10; duration = 122; initialDepth = 1000.559998; finalDepth = 1001.276209; 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:1001.276209 # Seafloor depth:-1051.276209 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 122.767258 meters # Minimum depth: 1050.559998 meters looking forward 0.000000 meters along route # Maximum depth: 1050.559998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.559998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795614; longitude = -121.808537; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1000.493245; finalDepth = 1000.559998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.559998 # Seafloor depth:-1050.559998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.493245 meters looking forward 0.000000 meters along route # Maximum depth: 1050.493245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.493245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.808759; captureRadius = 10; duration = 122; initialDepth = 1001.454750; finalDepth = 1000.493245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.493245 # Seafloor depth:-1050.493245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.454750 meters looking forward 0.000000 meters along route # Maximum depth: 1051.454750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.454750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794505; longitude = -121.809422; captureRadius = 10; duration = 122; initialDepth = 1003.629348; finalDepth = 1001.454750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.45475 # Seafloor depth:-1051.454750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.629348 meters looking forward 0.000000 meters along route # Maximum depth: 1053.629348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.629348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.810083; captureRadius = 10; duration = 122; initialDepth = 1003.908090; finalDepth = 1003.629348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.629348 # Seafloor depth:-1053.629348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.908090 meters looking forward 0.000000 meters along route # Maximum depth: 1053.908090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.908090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.810745; captureRadius = 10; duration = 122; initialDepth = 1006.670498; finalDepth = 1003.908090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.90809 # Seafloor depth:-1053.908090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.670498 meters looking forward 0.000000 meters along route # Maximum depth: 1056.670498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.670498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.811407; captureRadius = 10; duration = 122; initialDepth = 1007.881020; finalDepth = 1006.670498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.670498 # Seafloor depth:-1056.670498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.881020 meters looking forward 0.000000 meters along route # Maximum depth: 1057.881020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.881020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.812068; captureRadius = 10; duration = 122; initialDepth = 1008.986118; finalDepth = 1007.881020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.88102 # Seafloor depth:-1057.881020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.986118 meters looking forward 0.000000 meters along route # Maximum depth: 1058.986118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.986118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790349; longitude = -121.812739; captureRadius = 10; duration = 122; initialDepth = 1008.760502; finalDepth = 1008.986118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.986118 # Seafloor depth:-1058.986118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.760502 meters looking forward 0.000000 meters along route # Maximum depth: 1058.760502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.760502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.813392; captureRadius = 10; duration = 122; initialDepth = 1009.026459; finalDepth = 1008.760502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.760502 # Seafloor depth:-1058.760502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.026459 meters looking forward 0.000000 meters along route # Maximum depth: 1059.026459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.026459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.814054; captureRadius = 10; duration = 122; initialDepth = 1011.566184; finalDepth = 1009.026459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.026459 # Seafloor depth:-1059.026459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.566184 meters looking forward 0.000000 meters along route # Maximum depth: 1061.566184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.566184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.814716; captureRadius = 10; duration = 122; initialDepth = 1008.844728; finalDepth = 1011.566184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.566184 # Seafloor depth:-1061.566184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.844728 meters looking forward 0.000000 meters along route # Maximum depth: 1058.844728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.844728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.815378; captureRadius = 10; duration = 122; initialDepth = 1010.865099; finalDepth = 1008.844728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.844728 # Seafloor depth:-1058.844728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.865099 meters looking forward 0.000000 meters along route # Maximum depth: 1060.865099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.865099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786193; longitude = -121.816056; captureRadius = 10; duration = 122; initialDepth = 1011.007029; finalDepth = 1010.865099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.865099 # Seafloor depth:-1060.865099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.007029 meters looking forward 0.000000 meters along route # Maximum depth: 1061.007029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.007029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.816701; captureRadius = 10; duration = 122; initialDepth = 1013.296361; finalDepth = 1011.007029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.007029 # Seafloor depth:-1061.007029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.296361 meters looking forward 0.000000 meters along route # Maximum depth: 1063.296361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.296361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.817363; captureRadius = 10; duration = 122; initialDepth = 1019.012793; finalDepth = 1013.296361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.296361 # Seafloor depth:-1063.296361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.012793 meters looking forward 0.000000 meters along route # Maximum depth: 1069.012793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.012793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.818025; captureRadius = 10; duration = 122; initialDepth = 1027.793121; finalDepth = 1019.012793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.012793 # Seafloor depth:-1069.012793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1077.793121 meters looking forward 0.000000 meters along route # Maximum depth: 1077.793121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.793121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.818687; captureRadius = 10; duration = 122; initialDepth = 1022.345437; finalDepth = 1027.793121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.793121 # Seafloor depth:-1077.793121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1072.345437 meters looking forward 0.000000 meters along route # Maximum depth: 1072.345437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.345437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782038; longitude = -121.819373; captureRadius = 10; duration = 122; initialDepth = 1018.080174; finalDepth = 1022.345437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.345437 # Seafloor depth:-1072.345437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.080174 meters looking forward 0.000000 meters along route # Maximum depth: 1068.080174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.080174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.820010; captureRadius = 10; duration = 122; initialDepth = 1019.762975; finalDepth = 1018.080174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.080174 # Seafloor depth:-1068.080174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.762975 meters looking forward 0.000000 meters along route # Maximum depth: 1069.762975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.762975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.820672; captureRadius = 10; duration = 122; initialDepth = 1015.280222; finalDepth = 1019.762975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.762975 # Seafloor depth:-1069.762975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.280222 meters looking forward 0.000000 meters along route # Maximum depth: 1065.280222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.280222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.821334; captureRadius = 10; duration = 122; initialDepth = 1011.177395; finalDepth = 1015.280222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.280222 # Seafloor depth:-1065.280222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.177395 meters looking forward 0.000000 meters along route # Maximum depth: 1061.177395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.177395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.821996; captureRadius = 10; duration = 122; initialDepth = 1012.027303; finalDepth = 1011.177395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.177395 # Seafloor depth:-1061.177395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.027303 meters looking forward 0.000000 meters along route # Maximum depth: 1062.027303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.027303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777882; longitude = -121.822689; captureRadius = 10; duration = 122; initialDepth = 1013.129827; finalDepth = 1012.027303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.027303 # Seafloor depth:-1062.027303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.129827 meters looking forward 0.000000 meters along route # Maximum depth: 1063.129827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.129827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.823319; captureRadius = 10; duration = 122; initialDepth = 1020.135568; finalDepth = 1013.129827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.129827 # Seafloor depth:-1063.129827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1070.135568 meters looking forward 0.000000 meters along route # Maximum depth: 1070.135568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.135568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.823981; captureRadius = 10; duration = 122; initialDepth = 1021.290435; finalDepth = 1020.135568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.135568 # Seafloor depth:-1070.135568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1071.290435 meters looking forward 0.000000 meters along route # Maximum depth: 1071.290435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.290435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.824643; captureRadius = 10; duration = 122; initialDepth = 1018.286822; finalDepth = 1021.290435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.290435 # Seafloor depth:-1071.290435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.286822 meters looking forward 0.000000 meters along route # Maximum depth: 1068.286822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.286822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.825305; captureRadius = 10; duration = 122; initialDepth = 1013.184158; finalDepth = 1018.286822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.286822 # Seafloor depth:-1068.286822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.184158 meters looking forward 0.000000 meters along route # Maximum depth: 1063.184158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.184158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773726; longitude = -121.826006; captureRadius = 10; duration = 122; initialDepth = 1014.993474; finalDepth = 1013.184158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.184158 # Seafloor depth:-1063.184158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.993474 meters looking forward 0.000000 meters along route # Maximum depth: 1064.993474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.993474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.826629; captureRadius = 10; duration = 122; initialDepth = 1012.796815; finalDepth = 1014.993474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.993474 # Seafloor depth:-1064.993474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.796815 meters looking forward 0.000000 meters along route # Maximum depth: 1062.796815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.796815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.827290; captureRadius = 10; duration = 122; initialDepth = 1012.175321; finalDepth = 1012.796815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.796815 # Seafloor depth:-1062.796815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.175321 meters looking forward 0.000000 meters along route # Maximum depth: 1062.175321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.175321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.827952; captureRadius = 10; duration = 122; initialDepth = 1013.579946; finalDepth = 1012.175321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.175321 # Seafloor depth:-1062.175321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.579946 meters looking forward 0.000000 meters along route # Maximum depth: 1063.579946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.579946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.828614; captureRadius = 10; duration = 122; initialDepth = 1018.195291; finalDepth = 1013.579946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.579946 # Seafloor depth:-1063.579946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.195291 meters looking forward 0.000000 meters along route # Maximum depth: 1068.195291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.195291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769570; longitude = -121.829323; captureRadius = 10; duration = 122; initialDepth = 1019.726151; finalDepth = 1018.195291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.195291 # Seafloor depth:-1068.195291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.726151 meters looking forward 0.000000 meters along route # Maximum depth: 1069.726151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.726151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.829938; captureRadius = 10; duration = 122; initialDepth = 1015.117354; finalDepth = 1019.726151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.726151 # Seafloor depth:-1069.726151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.117354 meters looking forward 0.000000 meters along route # Maximum depth: 1065.117354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.117354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.830600; captureRadius = 10; duration = 122; initialDepth = 1014.275304; finalDepth = 1015.117354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.117354 # Seafloor depth:-1065.117354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.275304 meters looking forward 0.000000 meters along route # Maximum depth: 1064.275304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.275304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.831261; captureRadius = 10; duration = 122; initialDepth = 1013.107577; finalDepth = 1014.275304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.275304 # Seafloor depth:-1064.275304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.107577 meters looking forward 0.000000 meters along route # Maximum depth: 1063.107577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.107577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.831923; captureRadius = 10; duration = 122; initialDepth = 1016.384349; finalDepth = 1013.107577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.107577 # Seafloor depth:-1063.107577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.384349 meters looking forward 0.000000 meters along route # Maximum depth: 1066.384349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.384349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765415; longitude = -121.832640; captureRadius = 10; duration = 122; initialDepth = 1014.639922; finalDepth = 1016.384349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.384349 # Seafloor depth:-1066.384349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.639922 meters looking forward 0.000000 meters along route # Maximum depth: 1064.639922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.639922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.833247; captureRadius = 10; duration = 122; initialDepth = 1016.074031; finalDepth = 1014.639922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.639922 # Seafloor depth:-1064.639922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.074031 meters looking forward 0.000000 meters along route # Maximum depth: 1066.074031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.074031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.833909; captureRadius = 10; duration = 122; initialDepth = 1018.785702; finalDepth = 1016.074031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.074031 # Seafloor depth:-1066.074031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.785702 meters looking forward 0.000000 meters along route # Maximum depth: 1068.785702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.785702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762990; longitude = -121.834575; captureRadius = 10; duration = 122; initialDepth = 1013.272134; finalDepth = 1018.785702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.785702 # Seafloor depth:-1068.785702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.272134 meters looking forward 0.000000 meters along route # Maximum depth: 1063.272134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.272134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.835232; captureRadius = 10; duration = 122; initialDepth = 1013.531109; finalDepth = 1013.272134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.272134 # Seafloor depth:-1063.272134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.531109 meters looking forward 0.000000 meters along route # Maximum depth: 1063.531109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.531109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.835894; captureRadius = 10; duration = 122; initialDepth = 1016.561614; finalDepth = 1013.531109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.531109 # Seafloor depth:-1063.531109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.561614 meters looking forward 0.000000 meters along route # Maximum depth: 1066.561614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.561614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.836556; captureRadius = 10; duration = 122; initialDepth = 1015.992176; finalDepth = 1016.561614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.561614 # Seafloor depth:-1066.561614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.992176 meters looking forward 0.000000 meters along route # Maximum depth: 1065.992176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.992176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.837218; captureRadius = 10; duration = 122; initialDepth = 1015.592962; finalDepth = 1015.992176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.992176 # Seafloor depth:-1065.992176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.592962 meters looking forward 0.000000 meters along route # Maximum depth: 1065.592962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.592962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758835; longitude = -121.837892; captureRadius = 10; duration = 122; initialDepth = 1015.928154; finalDepth = 1015.592962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.592962 # Seafloor depth:-1065.592962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.928154 meters looking forward 0.000000 meters along route # Maximum depth: 1065.928154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.928154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.838541; captureRadius = 10; duration = 122; initialDepth = 1017.812072; finalDepth = 1015.928154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.928154 # Seafloor depth:-1065.928154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.812072 meters looking forward 0.000000 meters along route # Maximum depth: 1067.812072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.812072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.839203; captureRadius = 10; duration = 122; initialDepth = 1030.727549; finalDepth = 1017.812072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.812072 # Seafloor depth:-1067.812072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1080.727549 meters looking forward 0.000000 meters along route # Maximum depth: 1080.727549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.727549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.839865; captureRadius = 10; duration = 122; initialDepth = 1019.832001; finalDepth = 1030.727549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.727549 # Seafloor depth:-1080.727549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.832001 meters looking forward 0.000000 meters along route # Maximum depth: 1069.832001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.832001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.840527; captureRadius = 10; duration = 122; initialDepth = 1018.889011; finalDepth = 1019.832001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.832001 # Seafloor depth:-1069.832001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.889011 meters looking forward 0.000000 meters along route # Maximum depth: 1068.889011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.889011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754679; longitude = -121.841208; captureRadius = 10; duration = 122; initialDepth = 1024.346628; finalDepth = 1018.889011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.889011 # Seafloor depth:-1068.889011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1074.346628 meters looking forward 0.000000 meters along route # Maximum depth: 1074.346628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.346628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.841851; captureRadius = 10; duration = 122; initialDepth = 1019.626663; finalDepth = 1024.346628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.346628 # Seafloor depth:-1074.346628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.626663 meters looking forward 0.000000 meters along route # Maximum depth: 1069.626663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.626663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.842512; captureRadius = 10; duration = 122; initialDepth = 1016.632645; finalDepth = 1019.626663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.626663 # Seafloor depth:-1069.626663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.632645 meters looking forward 0.000000 meters along route # Maximum depth: 1066.632645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.632645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.843174; captureRadius = 10; duration = 122; initialDepth = 1019.343112; finalDepth = 1016.632645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.632645 # Seafloor depth:-1066.632645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.343112 meters looking forward 0.000000 meters along route # Maximum depth: 1069.343112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.343112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.843836; captureRadius = 10; duration = 122; initialDepth = 1014.768040; finalDepth = 1019.343112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.343112 # Seafloor depth:-1069.343112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.768040 meters looking forward 0.000000 meters along route # Maximum depth: 1064.768040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.768040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750523; longitude = -121.844525; captureRadius = 10; duration = 122; initialDepth = 1015.704066; finalDepth = 1014.768040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.76804 # Seafloor depth:-1064.768040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.704066 meters looking forward 0.000000 meters along route # Maximum depth: 1065.704066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.704066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.845160; captureRadius = 10; duration = 122; initialDepth = 1016.725558; finalDepth = 1015.704066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.704066 # Seafloor depth:-1065.704066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.725558 meters looking forward 0.000000 meters along route # Maximum depth: 1066.725558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.725558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.845821; captureRadius = 10; duration = 122; initialDepth = 1013.468522; finalDepth = 1016.725558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.725558 # Seafloor depth:-1066.725558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.468522 meters looking forward 0.000000 meters along route # Maximum depth: 1063.468522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.468522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.846483; captureRadius = 10; duration = 122; initialDepth = 1013.980253; finalDepth = 1013.468522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.468522 # Seafloor depth:-1063.468522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.980253 meters looking forward 0.000000 meters along route # Maximum depth: 1063.980253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.980253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.847145; captureRadius = 10; duration = 122; initialDepth = 1014.952368; finalDepth = 1013.980253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.980253 # Seafloor depth:-1063.980253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.952368 meters looking forward 0.000000 meters along route # Maximum depth: 1064.952368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.952368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746368; longitude = -121.847842; captureRadius = 10; duration = 122; initialDepth = 1014.251541; finalDepth = 1014.952368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.952368 # Seafloor depth:-1064.952368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.251541 meters looking forward 0.000000 meters along route # Maximum depth: 1064.251541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.251541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.848469; captureRadius = 10; duration = 122; initialDepth = 1016.822711; finalDepth = 1014.251541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.251541 # Seafloor depth:-1064.251541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.822711 meters looking forward 0.000000 meters along route # Maximum depth: 1066.822711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.822711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.849131; captureRadius = 10; duration = 122; initialDepth = 1014.823735; finalDepth = 1016.822711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.822711 # Seafloor depth:-1066.822711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.823735 meters looking forward 0.000000 meters along route # Maximum depth: 1064.823735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.823735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.849792; captureRadius = 10; duration = 122; initialDepth = 1018.204191; finalDepth = 1014.823735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.823735 # Seafloor depth:-1064.823735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.204191 meters looking forward 0.000000 meters along route # Maximum depth: 1068.204191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.204191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.850454; captureRadius = 10; duration = 122; initialDepth = 1017.325907; finalDepth = 1018.204191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.204191 # Seafloor depth:-1068.204191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.325907 meters looking forward 0.000000 meters along route # Maximum depth: 1067.325907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.325907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742212; longitude = -121.851159; captureRadius = 10; duration = 122; initialDepth = 1017.973590; finalDepth = 1017.325907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.325907 # Seafloor depth:-1067.325907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.973590 meters looking forward 0.000000 meters along route # Maximum depth: 1067.973590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.973590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741436; longitude = -121.851778; captureRadius = 10; duration = 122; initialDepth = 1018.332882; finalDepth = 1017.973590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.97359 # Seafloor depth:-1067.973590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.332882 meters looking forward 0.000000 meters along route # Maximum depth: 1068.332882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.332882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.852440; captureRadius = 10; duration = 122; initialDepth = 1014.597331; finalDepth = 1018.332882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.332882 # Seafloor depth:-1068.332882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.597331 meters looking forward 0.000000 meters along route # Maximum depth: 1064.597331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.597331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.853102; captureRadius = 10; duration = 122; initialDepth = 1017.957916; finalDepth = 1014.597331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.597331 # Seafloor depth:-1064.597331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.957916 meters looking forward 0.000000 meters along route # Maximum depth: 1067.957916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.957916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.853763; captureRadius = 10; duration = 122; initialDepth = 1014.148873; finalDepth = 1017.957916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.957916 # Seafloor depth:-1067.957916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.148873 meters looking forward 0.000000 meters along route # Maximum depth: 1064.148873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.148873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738056; longitude = -121.854476; captureRadius = 10; duration = 122; initialDepth = 1015.586394; finalDepth = 1014.148873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.148873 # Seafloor depth:-1064.148873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.586394 meters looking forward 0.000000 meters along route # Maximum depth: 1065.586394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.586394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.855087; captureRadius = 10; duration = 122; initialDepth = 1015.324074; finalDepth = 1015.586394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.586394 # Seafloor depth:-1065.586394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.324074 meters looking forward 0.000000 meters along route # Maximum depth: 1065.324074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.324074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.855749; captureRadius = 10; duration = 122; initialDepth = 1014.055385; finalDepth = 1015.324074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.324074 # Seafloor depth:-1065.324074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.055385 meters looking forward 0.000000 meters along route # Maximum depth: 1064.055385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.055385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.856411; captureRadius = 10; duration = 122; initialDepth = 1016.192458; finalDepth = 1014.055385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.055385 # Seafloor depth:-1064.055385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.192458 meters looking forward 0.000000 meters along route # Maximum depth: 1066.192458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.192458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.857073; captureRadius = 10; duration = 122; initialDepth = 1016.797455; finalDepth = 1016.192458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.192458 # Seafloor depth:-1066.192458 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1066.797455 meters looking forward 0.000000 meters along route # Maximum depth: 1066.797455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.797455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733974; longitude = -121.857734; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1015.795214; finalDepth = 1016.797455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.797455 # Seafloor depth:-1066.797455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.795214 meters looking forward 0.000000 meters along route # Maximum depth: 1065.795214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.795214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733858; longitude = -121.857516; captureRadius = 10; duration = 122; initialDepth = 1013.856110; finalDepth = 1015.795214; 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:1015.795214 # Seafloor depth:-1065.795214 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1063.856110 meters looking forward 0.000000 meters along route # Maximum depth: 1063.856110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.856110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733236; longitude = -121.856344; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1013.940254; finalDepth = 1013.856110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.85611 # Seafloor depth:-1063.856110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.940254 meters looking forward 0.000000 meters along route # Maximum depth: 1063.940254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.940254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.856197; captureRadius = 10; duration = 122; initialDepth = 1011.545981; finalDepth = 1013.940254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.940254 # Seafloor depth:-1063.940254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.545981 meters looking forward 0.000000 meters along route # Maximum depth: 1061.545981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.545981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.855535; captureRadius = 10; duration = 122; initialDepth = 1013.769225; finalDepth = 1011.545981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.545981 # Seafloor depth:-1061.545981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.769225 meters looking forward 0.000000 meters along route # Maximum depth: 1063.769225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.769225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.854873; captureRadius = 10; duration = 122; initialDepth = 1014.518163; finalDepth = 1013.769225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.769225 # Seafloor depth:-1063.769225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.518163 meters looking forward 0.000000 meters along route # Maximum depth: 1064.518163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.518163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735923; longitude = -121.854199; captureRadius = 10; duration = 122; initialDepth = 1014.149625; finalDepth = 1014.518163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.518163 # Seafloor depth:-1064.518163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.149625 meters looking forward 0.000000 meters along route # Maximum depth: 1064.149625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.149625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.853549; captureRadius = 10; duration = 122; initialDepth = 1019.759034; finalDepth = 1014.149625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.149625 # Seafloor depth:-1064.149625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.759034 meters looking forward 0.000000 meters along route # Maximum depth: 1069.759034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.759034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.852888; captureRadius = 10; duration = 122; initialDepth = 1019.082419; finalDepth = 1019.759034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.759034 # Seafloor depth:-1069.759034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.082419 meters looking forward 0.000000 meters along route # Maximum depth: 1069.082419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.082419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.852226; captureRadius = 10; duration = 122; initialDepth = 1012.921363; finalDepth = 1019.082419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.082419 # Seafloor depth:-1069.082419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.921363 meters looking forward 0.000000 meters along route # Maximum depth: 1062.921363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.921363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.851564; captureRadius = 10; duration = 122; initialDepth = 1016.300932; finalDepth = 1012.921363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.921363 # Seafloor depth:-1062.921363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.300932 meters looking forward 0.000000 meters along route # Maximum depth: 1066.300932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.300932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740079; longitude = -121.850883; captureRadius = 10; duration = 122; initialDepth = 1013.451370; finalDepth = 1016.300932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.300932 # Seafloor depth:-1066.300932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.451370 meters looking forward 0.000000 meters along route # Maximum depth: 1063.451370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.451370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.850240; captureRadius = 10; duration = 122; initialDepth = 1014.002072; finalDepth = 1013.451370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.45137 # Seafloor depth:-1063.451370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.002072 meters looking forward 0.000000 meters along route # Maximum depth: 1064.002072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.002072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.849578; captureRadius = 10; duration = 122; initialDepth = 1013.382572; finalDepth = 1014.002072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.002072 # Seafloor depth:-1064.002072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.382572 meters looking forward 0.000000 meters along route # Maximum depth: 1063.382572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.382572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.848917; captureRadius = 10; duration = 122; initialDepth = 1011.867285; finalDepth = 1013.382572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.382572 # Seafloor depth:-1063.382572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.867285 meters looking forward 0.000000 meters along route # Maximum depth: 1061.867285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.867285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.848255; captureRadius = 10; duration = 122; initialDepth = 1014.308379; finalDepth = 1011.867285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.867285 # Seafloor depth:-1061.867285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.308379 meters looking forward 0.000000 meters along route # Maximum depth: 1064.308379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.308379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744234; longitude = -121.847566; captureRadius = 10; duration = 122; initialDepth = 1013.397423; finalDepth = 1014.308379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.308379 # Seafloor depth:-1064.308379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.397423 meters looking forward 0.000000 meters along route # Maximum depth: 1063.397423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.397423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.846931; captureRadius = 10; duration = 122; initialDepth = 1012.154872; finalDepth = 1013.397423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.397423 # Seafloor depth:-1063.397423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.154872 meters looking forward 0.000000 meters along route # Maximum depth: 1062.154872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.154872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.846269; captureRadius = 10; duration = 122; initialDepth = 1012.385842; finalDepth = 1012.154872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.154872 # Seafloor depth:-1062.154872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.385842 meters looking forward 0.000000 meters along route # Maximum depth: 1062.385842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.385842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.845607; captureRadius = 10; duration = 122; initialDepth = 1016.055342; finalDepth = 1012.385842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.385842 # Seafloor depth:-1062.385842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.055342 meters looking forward 0.000000 meters along route # Maximum depth: 1066.055342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.055342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.844946; captureRadius = 10; duration = 122; initialDepth = 1017.459803; finalDepth = 1016.055342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.055342 # Seafloor depth:-1066.055342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.459803 meters looking forward 0.000000 meters along route # Maximum depth: 1067.459803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.459803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748390; longitude = -121.844249; captureRadius = 10; duration = 122; initialDepth = 1014.644870; finalDepth = 1017.459803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.459803 # Seafloor depth:-1067.459803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.644870 meters looking forward 0.000000 meters along route # Maximum depth: 1064.644870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.644870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.843622; captureRadius = 10; duration = 122; initialDepth = 1019.427217; finalDepth = 1014.644870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.64487 # Seafloor depth:-1064.644870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.427217 meters looking forward 0.000000 meters along route # Maximum depth: 1069.427217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.427217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.842960; captureRadius = 10; duration = 122; initialDepth = 1016.431161; finalDepth = 1019.427217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.427217 # Seafloor depth:-1069.427217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.431161 meters looking forward 0.000000 meters along route # Maximum depth: 1066.431161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.431161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.842298; captureRadius = 10; duration = 122; initialDepth = 1013.923009; finalDepth = 1016.431161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.431161 # Seafloor depth:-1066.431161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.923009 meters looking forward 0.000000 meters along route # Maximum depth: 1063.923009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.923009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.841636; captureRadius = 10; duration = 122; initialDepth = 1017.277018; finalDepth = 1013.923009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.923009 # Seafloor depth:-1063.923009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.277018 meters looking forward 0.000000 meters along route # Maximum depth: 1067.277018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.277018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752546; longitude = -121.840932; captureRadius = 10; duration = 122; initialDepth = 1017.406344; finalDepth = 1017.277018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.277018 # Seafloor depth:-1067.277018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.406344 meters looking forward 0.000000 meters along route # Maximum depth: 1067.406344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.406344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.840313; captureRadius = 10; duration = 122; initialDepth = 1012.990676; finalDepth = 1017.406344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.406344 # Seafloor depth:-1067.406344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.990676 meters looking forward 0.000000 meters along route # Maximum depth: 1062.990676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.990676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.839651; captureRadius = 10; duration = 122; initialDepth = 1014.773807; finalDepth = 1012.990676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.990676 # Seafloor depth:-1062.990676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.773807 meters looking forward 0.000000 meters along route # Maximum depth: 1064.773807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.773807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.838989; captureRadius = 10; duration = 122; initialDepth = 1029.791885; finalDepth = 1014.773807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.773807 # Seafloor depth:-1064.773807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1079.791885 meters looking forward 0.000000 meters along route # Maximum depth: 1079.791885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.791885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.838327; captureRadius = 10; duration = 122; initialDepth = 1015.784377; finalDepth = 1029.791885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.791885 # Seafloor depth:-1079.791885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.784377 meters looking forward 0.000000 meters along route # Maximum depth: 1065.784377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.784377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756701; longitude = -121.837615; captureRadius = 10; duration = 122; initialDepth = 1014.939067; finalDepth = 1015.784377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.784377 # Seafloor depth:-1065.784377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.939067 meters looking forward 0.000000 meters along route # Maximum depth: 1064.939067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.939067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.837003; captureRadius = 10; duration = 122; initialDepth = 1014.016797; finalDepth = 1014.939067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.939067 # Seafloor depth:-1064.939067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.016797 meters looking forward 0.000000 meters along route # Maximum depth: 1064.016797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.016797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.836342; captureRadius = 10; duration = 122; initialDepth = 1017.667587; finalDepth = 1014.016797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.016797 # Seafloor depth:-1064.016797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.667587 meters looking forward 0.000000 meters along route # Maximum depth: 1067.667587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.667587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.835680; captureRadius = 10; duration = 122; initialDepth = 1016.152991; finalDepth = 1017.667587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.667587 # Seafloor depth:-1067.667587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.152991 meters looking forward 0.000000 meters along route # Maximum depth: 1066.152991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.152991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.835018; captureRadius = 10; duration = 122; initialDepth = 1013.746467; finalDepth = 1016.152991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.152991 # Seafloor depth:-1066.152991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.746467 meters looking forward 0.000000 meters along route # Maximum depth: 1063.746467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.746467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760857; longitude = -121.834298; captureRadius = 10; duration = 122; initialDepth = 1014.642572; finalDepth = 1013.746467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.746467 # Seafloor depth:-1063.746467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.642572 meters looking forward 0.000000 meters along route # Maximum depth: 1064.642572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.642572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.833694; captureRadius = 10; duration = 122; initialDepth = 1014.018211; finalDepth = 1014.642572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.642572 # Seafloor depth:-1064.642572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.018211 meters looking forward 0.000000 meters along route # Maximum depth: 1064.018211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.018211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.833032; captureRadius = 10; duration = 122; initialDepth = 1015.902136; finalDepth = 1014.018211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.018211 # Seafloor depth:-1064.018211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.902136 meters looking forward 0.000000 meters along route # Maximum depth: 1065.902136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.902136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763281; longitude = -121.832363; captureRadius = 10; duration = 122; initialDepth = 1014.132896; finalDepth = 1015.902136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.902136 # Seafloor depth:-1065.902136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.132896 meters looking forward 0.000000 meters along route # Maximum depth: 1064.132896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.132896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.831709; captureRadius = 10; duration = 122; initialDepth = 1011.482491; finalDepth = 1014.132896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.132896 # Seafloor depth:-1064.132896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.482491 meters looking forward 0.000000 meters along route # Maximum depth: 1061.482491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.482491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.831047; captureRadius = 10; duration = 122; initialDepth = 1010.026323; finalDepth = 1011.482491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.482491 # Seafloor depth:-1061.482491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.026323 meters looking forward 0.000000 meters along route # Maximum depth: 1060.026323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.026323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.830385; captureRadius = 10; duration = 122; initialDepth = 1011.783098; finalDepth = 1010.026323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.026323 # Seafloor depth:-1060.026323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.783098 meters looking forward 0.000000 meters along route # Maximum depth: 1061.783098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.783098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.829723; captureRadius = 10; duration = 122; initialDepth = 1017.652767; finalDepth = 1011.783098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.783098 # Seafloor depth:-1061.783098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.652767 meters looking forward 0.000000 meters along route # Maximum depth: 1067.652767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.652767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767437; longitude = -121.829047; captureRadius = 10; duration = 122; initialDepth = 1015.607795; finalDepth = 1017.652767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.652767 # Seafloor depth:-1067.652767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.607795 meters looking forward 0.000000 meters along route # Maximum depth: 1065.607795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.607795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.828400; captureRadius = 10; duration = 122; initialDepth = 1012.276825; finalDepth = 1015.607795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.607795 # Seafloor depth:-1065.607795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.276825 meters looking forward 0.000000 meters along route # Maximum depth: 1062.276825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.276825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.827738; captureRadius = 10; duration = 122; initialDepth = 1010.805984; finalDepth = 1012.276825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.276825 # Seafloor depth:-1062.276825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.805984 meters looking forward 0.000000 meters along route # Maximum depth: 1060.805984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.805984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.827076; captureRadius = 10; duration = 122; initialDepth = 1011.114219; finalDepth = 1010.805984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.805984 # Seafloor depth:-1060.805984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.114219 meters looking forward 0.000000 meters along route # Maximum depth: 1061.114219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.114219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.826414; captureRadius = 10; duration = 122; initialDepth = 1011.573899; finalDepth = 1011.114219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.114219 # Seafloor depth:-1061.114219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.573899 meters looking forward 0.000000 meters along route # Maximum depth: 1061.573899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.573899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771592; longitude = -121.825730; captureRadius = 10; duration = 122; initialDepth = 1011.025951; finalDepth = 1011.573899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.573899 # Seafloor depth:-1061.573899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.025951 meters looking forward 0.000000 meters along route # Maximum depth: 1061.025951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.025951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.825090; captureRadius = 10; duration = 122; initialDepth = 1009.265883; finalDepth = 1011.025951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.025951 # Seafloor depth:-1061.025951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.265883 meters looking forward 0.000000 meters along route # Maximum depth: 1059.265883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.265883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.824428; captureRadius = 10; duration = 122; initialDepth = 1013.181163; finalDepth = 1009.265883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.265883 # Seafloor depth:-1059.265883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.181163 meters looking forward 0.000000 meters along route # Maximum depth: 1063.181163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.181163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.823767; captureRadius = 10; duration = 122; initialDepth = 1019.813761; finalDepth = 1013.181163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.181163 # Seafloor depth:-1063.181163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.813761 meters looking forward 0.000000 meters along route # Maximum depth: 1069.813761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.813761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.823105; captureRadius = 10; duration = 122; initialDepth = 1016.758166; finalDepth = 1019.813761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.813761 # Seafloor depth:-1069.813761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.758166 meters looking forward 0.000000 meters along route # Maximum depth: 1066.758166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.758166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775748; longitude = -121.822413; captureRadius = 10; duration = 122; initialDepth = 1013.793073; finalDepth = 1016.758166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.758166 # Seafloor depth:-1066.758166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.793073 meters looking forward 0.000000 meters along route # Maximum depth: 1063.793073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.793073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.821781; captureRadius = 10; duration = 122; initialDepth = 1010.554294; finalDepth = 1013.793073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.793073 # Seafloor depth:-1063.793073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.554294 meters looking forward 0.000000 meters along route # Maximum depth: 1060.554294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.554294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.821119; captureRadius = 10; duration = 122; initialDepth = 1011.250732; finalDepth = 1010.554294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.554294 # Seafloor depth:-1060.554294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.250732 meters looking forward 0.000000 meters along route # Maximum depth: 1061.250732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.250732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.820457; captureRadius = 10; duration = 122; initialDepth = 1016.099770; finalDepth = 1011.250732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.250732 # Seafloor depth:-1061.250732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.099770 meters looking forward 0.000000 meters along route # Maximum depth: 1066.099770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.099770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.819796; captureRadius = 10; duration = 122; initialDepth = 1013.498884; finalDepth = 1016.099770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.09977 # Seafloor depth:-1066.099770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.498884 meters looking forward 0.000000 meters along route # Maximum depth: 1063.498884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.498884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779904; longitude = -121.819096; captureRadius = 10; duration = 122; initialDepth = 1013.350093; finalDepth = 1013.498884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.498884 # Seafloor depth:-1063.498884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.350093 meters looking forward 0.000000 meters along route # Maximum depth: 1063.350093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.350093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.818472; captureRadius = 10; duration = 122; initialDepth = 1020.790414; finalDepth = 1013.350093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.350093 # Seafloor depth:-1063.350093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1070.790414 meters looking forward 0.000000 meters along route # Maximum depth: 1070.790414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.790414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.817810; captureRadius = 10; duration = 122; initialDepth = 1026.570654; finalDepth = 1020.790414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.790414 # Seafloor depth:-1070.790414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1076.570654 meters looking forward 0.000000 meters along route # Maximum depth: 1076.570654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.570654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.817148; captureRadius = 10; duration = 122; initialDepth = 1015.356014; finalDepth = 1026.570654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.570654 # Seafloor depth:-1076.570654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.356014 meters looking forward 0.000000 meters along route # Maximum depth: 1065.356014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.356014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.816486; captureRadius = 10; duration = 122; initialDepth = 1010.800309; finalDepth = 1015.356014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.356014 # Seafloor depth:-1065.356014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.800309 meters looking forward 0.000000 meters along route # Maximum depth: 1060.800309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.800309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784059; longitude = -121.815779; captureRadius = 10; duration = 122; initialDepth = 1009.594522; finalDepth = 1010.800309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.800309 # Seafloor depth:-1060.800309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.594522 meters looking forward 0.000000 meters along route # Maximum depth: 1059.594522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.594522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.815163; captureRadius = 10; duration = 122; initialDepth = 1007.102371; finalDepth = 1009.594522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.594522 # Seafloor depth:-1059.594522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.102371 meters looking forward 0.000000 meters along route # Maximum depth: 1057.102371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.102371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.814501; captureRadius = 10; duration = 122; initialDepth = 1007.478108; finalDepth = 1007.102371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.102371 # Seafloor depth:-1057.102371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.478108 meters looking forward 0.000000 meters along route # Maximum depth: 1057.478108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.478108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.813839; captureRadius = 10; duration = 122; initialDepth = 1008.683371; finalDepth = 1007.478108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.478108 # Seafloor depth:-1057.478108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.683371 meters looking forward 0.000000 meters along route # Maximum depth: 1058.683371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.683371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.813177; captureRadius = 10; duration = 122; initialDepth = 1006.057877; finalDepth = 1008.683371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.683371 # Seafloor depth:-1058.683371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.057877 meters looking forward 0.000000 meters along route # Maximum depth: 1056.057877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.057877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788215; longitude = -121.812462; captureRadius = 10; duration = 122; initialDepth = 1003.927010; finalDepth = 1006.057877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.057877 # Seafloor depth:-1056.057877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.927010 meters looking forward 0.000000 meters along route # Maximum depth: 1053.927010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.927010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.811854; captureRadius = 10; duration = 122; initialDepth = 1004.340267; finalDepth = 1003.927010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.92701 # Seafloor depth:-1053.927010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.340267 meters looking forward 0.000000 meters along route # Maximum depth: 1054.340267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.340267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.811192; captureRadius = 10; duration = 122; initialDepth = 1004.083806; finalDepth = 1004.340267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.340267 # Seafloor depth:-1054.340267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.083806 meters looking forward 0.000000 meters along route # Maximum depth: 1054.083806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.083806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790639; longitude = -121.810528; captureRadius = 10; duration = 122; initialDepth = 1002.761448; finalDepth = 1004.083806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.083806 # Seafloor depth:-1054.083806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.761448 meters looking forward 0.000000 meters along route # Maximum depth: 1052.761448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.761448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.809868; captureRadius = 10; duration = 122; initialDepth = 1004.932520; finalDepth = 1002.761448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.761448 # Seafloor depth:-1052.761448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.932520 meters looking forward 0.000000 meters along route # Maximum depth: 1054.932520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.932520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.809206; captureRadius = 10; duration = 122; initialDepth = 1002.198297; finalDepth = 1004.932520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.93252 # Seafloor depth:-1054.932520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.198297 meters looking forward 0.000000 meters along route # Maximum depth: 1052.198297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.198297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.808544; captureRadius = 10; duration = 122; initialDepth = 1002.560818; finalDepth = 1002.198297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.198297 # Seafloor depth:-1052.198297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.560818 meters looking forward 0.000000 meters along route # Maximum depth: 1052.560818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.560818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794102; longitude = -121.807764; captureRadius = 10; duration = 122; initialDepth = 1002.913147; finalDepth = 1002.560818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.560818 # Seafloor depth:-1052.560818 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1052.913147 meters looking forward 0.000000 meters along route # Maximum depth: 1052.913147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.913147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794876; longitude = -121.807146; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1002.312132; finalDepth = 1002.913147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.913147 # Seafloor depth:-1052.913147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.312132 meters looking forward 0.000000 meters along route # Maximum depth: 1052.312132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.312132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794764; longitude = -121.806934; captureRadius = 10; duration = 122; initialDepth = 999.929382; finalDepth = 1002.312132; 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:1002.312132 # Seafloor depth:-1052.312132 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1049.929382 meters looking forward 0.000000 meters along route # Maximum depth: 1049.929382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.929382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794139; longitude = -121.805755; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1002.426826; finalDepth = 999.929382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.929382 # Seafloor depth:-1049.929382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.426826 meters looking forward 0.000000 meters along route # Maximum depth: 1052.426826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.426826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.805903; captureRadius = 10; duration = 122; initialDepth = 1004.590466; finalDepth = 1002.426826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.426826 # Seafloor depth:-1052.426826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.590466 meters looking forward 0.000000 meters along route # Maximum depth: 1054.590466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.590466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.806565; captureRadius = 10; duration = 122; initialDepth = 996.751118; finalDepth = 1004.590466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.590466 # Seafloor depth:-1054.590466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.751118 meters looking forward 0.000000 meters along route # Maximum depth: 1046.751118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.751118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.807226; captureRadius = 10; duration = 122; initialDepth = 998.401136; finalDepth = 996.751118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.751118 # Seafloor depth:-1046.751118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.401136 meters looking forward 0.000000 meters along route # Maximum depth: 1048.401136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.401136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.807888; captureRadius = 10; duration = 122; initialDepth = 1002.392488; finalDepth = 998.401136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.401136 # Seafloor depth:-1048.401136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.392488 meters looking forward 0.000000 meters along route # Maximum depth: 1052.392488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.392488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790583; longitude = -121.808593; captureRadius = 10; duration = 122; initialDepth = 1001.502328; finalDepth = 1002.392488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.392488 # Seafloor depth:-1052.392488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.502328 meters looking forward 0.000000 meters along route # Maximum depth: 1051.502328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.502328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.809212; captureRadius = 10; duration = 122; initialDepth = 1000.828183; finalDepth = 1001.502328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.502328 # Seafloor depth:-1051.502328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.828183 meters looking forward 0.000000 meters along route # Maximum depth: 1050.828183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.828183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.809874; captureRadius = 10; duration = 122; initialDepth = 1006.058172; finalDepth = 1000.828183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.828183 # Seafloor depth:-1050.828183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.058172 meters looking forward 0.000000 meters along route # Maximum depth: 1056.058172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.058172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.810536; captureRadius = 10; duration = 122; initialDepth = 1005.032082; finalDepth = 1006.058172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.058172 # Seafloor depth:-1056.058172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.032082 meters looking forward 0.000000 meters along route # Maximum depth: 1055.032082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.032082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.811197; captureRadius = 10; duration = 122; initialDepth = 1004.660647; finalDepth = 1005.032082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.032082 # Seafloor depth:-1055.032082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.660647 meters looking forward 0.000000 meters along route # Maximum depth: 1054.660647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.660647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786427; longitude = -121.811910; captureRadius = 10; duration = 122; initialDepth = 1002.555750; finalDepth = 1004.660647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.660647 # Seafloor depth:-1054.660647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.555750 meters looking forward 0.000000 meters along route # Maximum depth: 1052.555750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.555750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.812521; captureRadius = 10; duration = 122; initialDepth = 1005.083916; finalDepth = 1002.555750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.55575 # Seafloor depth:-1052.555750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.083916 meters looking forward 0.000000 meters along route # Maximum depth: 1055.083916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.083916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.813183; captureRadius = 10; duration = 122; initialDepth = 1006.609457; finalDepth = 1005.083916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.083916 # Seafloor depth:-1055.083916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.609457 meters looking forward 0.000000 meters along route # Maximum depth: 1056.609457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.609457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.813845; captureRadius = 10; duration = 122; initialDepth = 1009.492058; finalDepth = 1006.609457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.609457 # Seafloor depth:-1056.609457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.492058 meters looking forward 0.000000 meters along route # Maximum depth: 1059.492058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.492058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.814507; captureRadius = 10; duration = 122; initialDepth = 1010.532670; finalDepth = 1009.492058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.492058 # Seafloor depth:-1059.492058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.532670 meters looking forward 0.000000 meters along route # Maximum depth: 1060.532670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.532670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782272; longitude = -121.815226; captureRadius = 10; duration = 122; initialDepth = 1016.781651; finalDepth = 1010.532670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.53267 # Seafloor depth:-1060.532670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.781651 meters looking forward 0.000000 meters along route # Maximum depth: 1066.781651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.781651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.815830; captureRadius = 10; duration = 122; initialDepth = 1017.243391; finalDepth = 1016.781651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.781651 # Seafloor depth:-1066.781651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.243391 meters looking forward 0.000000 meters along route # Maximum depth: 1067.243391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.243391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.816492; captureRadius = 10; duration = 122; initialDepth = 1015.303564; finalDepth = 1017.243391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.243391 # Seafloor depth:-1067.243391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.303564 meters looking forward 0.000000 meters along route # Maximum depth: 1065.303564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.303564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779848; longitude = -121.817161; captureRadius = 10; duration = 122; initialDepth = 1008.862428; finalDepth = 1015.303564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.303564 # Seafloor depth:-1065.303564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.862428 meters looking forward 0.000000 meters along route # Maximum depth: 1058.862428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.862428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.817816; captureRadius = 10; duration = 122; initialDepth = 1011.393151; finalDepth = 1008.862428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.862428 # Seafloor depth:-1058.862428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.393151 meters looking forward 0.000000 meters along route # Maximum depth: 1061.393151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.393151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.818478; captureRadius = 10; duration = 122; initialDepth = 1012.946854; finalDepth = 1011.393151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.393151 # Seafloor depth:-1061.393151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.946854 meters looking forward 0.000000 meters along route # Maximum depth: 1062.946854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.946854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.819140; captureRadius = 10; duration = 122; initialDepth = 1007.534887; finalDepth = 1012.946854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.946854 # Seafloor depth:-1062.946854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.534887 meters looking forward 0.000000 meters along route # Maximum depth: 1057.534887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.534887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.819802; captureRadius = 10; duration = 122; initialDepth = 1014.376708; finalDepth = 1007.534887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.534887 # Seafloor depth:-1057.534887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.376708 meters looking forward 0.000000 meters along route # Maximum depth: 1064.376708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.376708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775692; longitude = -121.820478; captureRadius = 10; duration = 122; initialDepth = 1015.597327; finalDepth = 1014.376708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.376708 # Seafloor depth:-1064.376708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.597327 meters looking forward 0.000000 meters along route # Maximum depth: 1065.597327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.597327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.821125; captureRadius = 10; duration = 122; initialDepth = 1017.025470; finalDepth = 1015.597327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.597327 # Seafloor depth:-1065.597327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.025470 meters looking forward 0.000000 meters along route # Maximum depth: 1067.025470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.025470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.821787; captureRadius = 10; duration = 122; initialDepth = 1009.923643; finalDepth = 1017.025470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.02547 # Seafloor depth:-1067.025470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.923643 meters looking forward 0.000000 meters along route # Maximum depth: 1059.923643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.923643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.822449; captureRadius = 10; duration = 122; initialDepth = 1009.819580; finalDepth = 1009.923643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.923643 # Seafloor depth:-1059.923643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.819580 meters looking forward 0.000000 meters along route # Maximum depth: 1059.819580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.819580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.823111; captureRadius = 10; duration = 122; initialDepth = 1010.345118; finalDepth = 1009.819580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.81958 # Seafloor depth:-1059.819580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.345118 meters looking forward 0.000000 meters along route # Maximum depth: 1060.345118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.345118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771536; longitude = -121.823795; captureRadius = 10; duration = 122; initialDepth = 1009.478674; finalDepth = 1010.345118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.345118 # Seafloor depth:-1060.345118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.478674 meters looking forward 0.000000 meters along route # Maximum depth: 1059.478674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.478674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.824435; captureRadius = 10; duration = 122; initialDepth = 1009.700526; finalDepth = 1009.478674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.478674 # Seafloor depth:-1059.478674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.700526 meters looking forward 0.000000 meters along route # Maximum depth: 1059.700526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.700526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.825096; captureRadius = 10; duration = 122; initialDepth = 1012.578455; finalDepth = 1009.700526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.700526 # Seafloor depth:-1059.700526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.578455 meters looking forward 0.000000 meters along route # Maximum depth: 1062.578455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.578455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.825758; captureRadius = 10; duration = 122; initialDepth = 1008.772590; finalDepth = 1012.578455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.578455 # Seafloor depth:-1062.578455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.772590 meters looking forward 0.000000 meters along route # Maximum depth: 1058.772590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.772590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.826420; captureRadius = 10; duration = 122; initialDepth = 1011.151133; finalDepth = 1008.772590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.77259 # Seafloor depth:-1058.772590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.151133 meters looking forward 0.000000 meters along route # Maximum depth: 1061.151133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.151133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767381; longitude = -121.827112; captureRadius = 10; duration = 122; initialDepth = 1015.136631; finalDepth = 1011.151133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.151133 # Seafloor depth:-1061.151133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.136631 meters looking forward 0.000000 meters along route # Maximum depth: 1065.136631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.136631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.827744; captureRadius = 10; duration = 122; initialDepth = 1011.978352; finalDepth = 1015.136631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.136631 # Seafloor depth:-1065.136631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.978352 meters looking forward 0.000000 meters along route # Maximum depth: 1061.978352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.978352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.828406; captureRadius = 10; duration = 122; initialDepth = 1009.609009; finalDepth = 1011.978352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.978352 # Seafloor depth:-1061.978352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.609009 meters looking forward 0.000000 meters along route # Maximum depth: 1059.609009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.609009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.829068; captureRadius = 10; duration = 122; initialDepth = 1009.827091; finalDepth = 1009.609009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.609009 # Seafloor depth:-1059.609009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.827091 meters looking forward 0.000000 meters along route # Maximum depth: 1059.827091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.827091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.829729; captureRadius = 10; duration = 122; initialDepth = 1012.911011; finalDepth = 1009.827091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.827091 # Seafloor depth:-1059.827091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.911011 meters looking forward 0.000000 meters along route # Maximum depth: 1062.911011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.911011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763225; longitude = -121.830429; captureRadius = 10; duration = 122; initialDepth = 1016.425168; finalDepth = 1012.911011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.911011 # Seafloor depth:-1062.911011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.425168 meters looking forward 0.000000 meters along route # Maximum depth: 1066.425168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.425168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.831053; captureRadius = 10; duration = 122; initialDepth = 1013.881691; finalDepth = 1016.425168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.425168 # Seafloor depth:-1066.425168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.881691 meters looking forward 0.000000 meters along route # Maximum depth: 1063.881691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.881691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.831715; captureRadius = 10; duration = 122; initialDepth = 1011.245887; finalDepth = 1013.881691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.881691 # Seafloor depth:-1063.881691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.245887 meters looking forward 0.000000 meters along route # Maximum depth: 1061.245887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.245887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.832377; captureRadius = 10; duration = 122; initialDepth = 1013.097825; finalDepth = 1011.245887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.245887 # Seafloor depth:-1061.245887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.097825 meters looking forward 0.000000 meters along route # Maximum depth: 1063.097825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.097825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.833039; captureRadius = 10; duration = 122; initialDepth = 1015.183837; finalDepth = 1013.097825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.097825 # Seafloor depth:-1063.097825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.183837 meters looking forward 0.000000 meters along route # Maximum depth: 1065.183837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.183837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759070; longitude = -121.833746; captureRadius = 10; duration = 122; initialDepth = 1014.782252; finalDepth = 1015.183837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.183837 # Seafloor depth:-1065.183837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.782252 meters looking forward 0.000000 meters along route # Maximum depth: 1064.782252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.782252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.834362; captureRadius = 10; duration = 122; initialDepth = 1015.386998; finalDepth = 1014.782252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.782252 # Seafloor depth:-1064.782252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.386998 meters looking forward 0.000000 meters along route # Maximum depth: 1065.386998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.386998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.835024; captureRadius = 10; duration = 122; initialDepth = 1011.524584; finalDepth = 1015.386998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.386998 # Seafloor depth:-1065.386998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.524584 meters looking forward 0.000000 meters along route # Maximum depth: 1061.524584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.524584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.835686; captureRadius = 10; duration = 122; initialDepth = 1015.449203; finalDepth = 1011.524584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.524584 # Seafloor depth:-1061.524584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.449203 meters looking forward 0.000000 meters along route # Maximum depth: 1065.449203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.449203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.836348; captureRadius = 10; duration = 122; initialDepth = 1017.246420; finalDepth = 1015.449203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.449203 # Seafloor depth:-1065.449203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.246420 meters looking forward 0.000000 meters along route # Maximum depth: 1067.246420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.246420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754914; longitude = -121.837062; captureRadius = 10; duration = 122; initialDepth = 1024.308948; finalDepth = 1017.246420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.24642 # Seafloor depth:-1067.246420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1074.308948 meters looking forward 0.000000 meters along route # Maximum depth: 1074.308948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.308948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.837672; captureRadius = 10; duration = 122; initialDepth = 1011.508761; finalDepth = 1024.308948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.308948 # Seafloor depth:-1074.308948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.508761 meters looking forward 0.000000 meters along route # Maximum depth: 1061.508761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.508761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.838333; captureRadius = 10; duration = 122; initialDepth = 1010.568321; finalDepth = 1011.508761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.508761 # Seafloor depth:-1061.508761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.568321 meters looking forward 0.000000 meters along route # Maximum depth: 1060.568321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.568321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752490; longitude = -121.838997; captureRadius = 10; duration = 122; initialDepth = 1017.038355; finalDepth = 1010.568321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.568321 # Seafloor depth:-1060.568321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1067.038355 meters looking forward 0.000000 meters along route # Maximum depth: 1067.038355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.038355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.839657; captureRadius = 10; duration = 122; initialDepth = 1012.903931; finalDepth = 1017.038355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.038355 # Seafloor depth:-1067.038355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.903931 meters looking forward 0.000000 meters along route # Maximum depth: 1062.903931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.903931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.840319; captureRadius = 10; duration = 122; initialDepth = 1010.911857; finalDepth = 1012.903931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.903931 # Seafloor depth:-1062.903931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.911857 meters looking forward 0.000000 meters along route # Maximum depth: 1060.911857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.911857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.840981; captureRadius = 10; duration = 122; initialDepth = 1011.712878; finalDepth = 1010.911857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.911857 # Seafloor depth:-1060.911857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.712878 meters looking forward 0.000000 meters along route # Maximum depth: 1061.712878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.712878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.841643; captureRadius = 10; duration = 122; initialDepth = 1013.833042; finalDepth = 1011.712878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.712878 # Seafloor depth:-1061.712878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.833042 meters looking forward 0.000000 meters along route # Maximum depth: 1063.833042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.833042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748335; longitude = -121.842314; captureRadius = 10; duration = 122; initialDepth = 1011.975673; finalDepth = 1013.833042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.833042 # Seafloor depth:-1063.833042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.975673 meters looking forward 0.000000 meters along route # Maximum depth: 1061.975673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.975673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.842966; captureRadius = 10; duration = 122; initialDepth = 1016.885190; finalDepth = 1011.975673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.975673 # Seafloor depth:-1061.975673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.885190 meters looking forward 0.000000 meters along route # Maximum depth: 1066.885190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.885190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.843628; captureRadius = 10; duration = 122; initialDepth = 1014.784700; finalDepth = 1016.885190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.88519 # Seafloor depth:-1066.885190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.784700 meters looking forward 0.000000 meters along route # Maximum depth: 1064.784700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.784700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.844290; captureRadius = 10; duration = 122; initialDepth = 1012.439438; finalDepth = 1014.784700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.7847 # Seafloor depth:-1064.784700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.439438 meters looking forward 0.000000 meters along route # Maximum depth: 1062.439438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.439438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.844952; captureRadius = 10; duration = 122; initialDepth = 1011.240588; finalDepth = 1012.439438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.439438 # Seafloor depth:-1062.439438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.240588 meters looking forward 0.000000 meters along route # Maximum depth: 1061.240588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.240588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744179; longitude = -121.845631; captureRadius = 10; duration = 122; initialDepth = 1016.403767; finalDepth = 1011.240588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.240588 # Seafloor depth:-1061.240588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.403767 meters looking forward 0.000000 meters along route # Maximum depth: 1066.403767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.403767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.846276; captureRadius = 10; duration = 122; initialDepth = 1014.710029; finalDepth = 1016.403767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.403767 # Seafloor depth:-1066.403767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.710029 meters looking forward 0.000000 meters along route # Maximum depth: 1064.710029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.710029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.846938; captureRadius = 10; duration = 122; initialDepth = 1012.802997; finalDepth = 1014.710029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.710029 # Seafloor depth:-1064.710029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.802997 meters looking forward 0.000000 meters along route # Maximum depth: 1062.802997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.802997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.847599; captureRadius = 10; duration = 122; initialDepth = 1019.734577; finalDepth = 1012.802997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.802997 # Seafloor depth:-1062.802997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1069.734577 meters looking forward 0.000000 meters along route # Maximum depth: 1069.734577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.734577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.848261; captureRadius = 10; duration = 122; initialDepth = 1009.354899; finalDepth = 1019.734577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.734577 # Seafloor depth:-1069.734577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.354899 meters looking forward 0.000000 meters along route # Maximum depth: 1059.354899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.354899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740024; longitude = -121.848948; captureRadius = 10; duration = 122; initialDepth = 1011.759988; finalDepth = 1009.354899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.354899 # Seafloor depth:-1059.354899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.759988 meters looking forward 0.000000 meters along route # Maximum depth: 1061.759988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.759988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739225; longitude = -121.849585; captureRadius = 10; duration = 122; initialDepth = 1011.368441; finalDepth = 1011.759988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.759988 # Seafloor depth:-1061.759988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.368441 meters looking forward 0.000000 meters along route # Maximum depth: 1061.368441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.368441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738396; longitude = -121.850247; captureRadius = 10; duration = 122; initialDepth = 1013.480636; finalDepth = 1011.368441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.368441 # Seafloor depth:-1061.368441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.480636 meters looking forward 0.000000 meters along route # Maximum depth: 1063.480636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.480636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.850909; captureRadius = 10; duration = 122; initialDepth = 1015.532641; finalDepth = 1013.480636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.480636 # Seafloor depth:-1063.480636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.532641 meters looking forward 0.000000 meters along route # Maximum depth: 1065.532641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.532641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.851571; captureRadius = 10; duration = 122; initialDepth = 1014.385412; finalDepth = 1015.532641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.532641 # Seafloor depth:-1065.532641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.385412 meters looking forward 0.000000 meters along route # Maximum depth: 1064.385412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.385412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735868; longitude = -121.852265; captureRadius = 10; duration = 122; initialDepth = 1018.872468; finalDepth = 1014.385412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.385412 # Seafloor depth:-1064.385412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1068.872468 meters looking forward 0.000000 meters along route # Maximum depth: 1068.872468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.872468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.852894; captureRadius = 10; duration = 122; initialDepth = 1013.520020; finalDepth = 1018.872468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.872468 # Seafloor depth:-1068.872468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.520020 meters looking forward 0.000000 meters along route # Maximum depth: 1063.520020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.520020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.853556; captureRadius = 10; duration = 122; initialDepth = 1011.090683; finalDepth = 1013.520020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.52002 # Seafloor depth:-1063.520020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.090683 meters looking forward 0.000000 meters along route # Maximum depth: 1061.090683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.090683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.854218; captureRadius = 10; duration = 122; initialDepth = 1011.434174; finalDepth = 1011.090683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.090683 # Seafloor depth:-1061.090683 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1061.434174 meters looking forward 0.000000 meters along route # Maximum depth: 1061.434174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.434174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732499; longitude = -121.854953; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1008.805055; finalDepth = 1011.434174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.434174 # Seafloor depth:-1061.434174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.805055 meters looking forward 0.000000 meters along route # Maximum depth: 1058.805055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.805055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.854606; captureRadius = 10; duration = 122; initialDepth = 1016.964417; finalDepth = 1008.805055; 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:1008.805055 # Seafloor depth:-1058.805055 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1066.964417 meters looking forward 0.000000 meters along route # Maximum depth: 1066.964417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.964417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.853563; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1016.144658; finalDepth = 1016.964417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.964417 # Seafloor depth:-1066.964417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.144658 meters looking forward 0.000000 meters along route # Maximum depth: 1066.144658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.144658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.853342; captureRadius = 10; duration = 122; initialDepth = 1011.323601; finalDepth = 1016.144658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.144658 # Seafloor depth:-1066.144658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.323601 meters looking forward 0.000000 meters along route # Maximum depth: 1061.323601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.323601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.852680; captureRadius = 10; duration = 122; initialDepth = 1010.419344; finalDepth = 1011.323601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.323601 # Seafloor depth:-1061.323601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.419344 meters looking forward 0.000000 meters along route # Maximum depth: 1060.419344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.419344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733735; longitude = -121.851988; captureRadius = 10; duration = 122; initialDepth = 1013.187018; finalDepth = 1010.419344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.419344 # Seafloor depth:-1060.419344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.187018 meters looking forward 0.000000 meters along route # Maximum depth: 1063.187018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.187018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.851357; captureRadius = 10; duration = 122; initialDepth = 1010.039856; finalDepth = 1013.187018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.187018 # Seafloor depth:-1063.187018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.039856 meters looking forward 0.000000 meters along route # Maximum depth: 1060.039856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.039856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.850695; captureRadius = 10; duration = 122; initialDepth = 1011.190819; finalDepth = 1010.039856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.039856 # Seafloor depth:-1060.039856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.190819 meters looking forward 0.000000 meters along route # Maximum depth: 1061.190819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.190819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.850033; captureRadius = 10; duration = 122; initialDepth = 1010.697351; finalDepth = 1011.190819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.190819 # Seafloor depth:-1061.190819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.697351 meters looking forward 0.000000 meters along route # Maximum depth: 1060.697351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.697351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.849371; captureRadius = 10; duration = 122; initialDepth = 1014.790108; finalDepth = 1010.697351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.697351 # Seafloor depth:-1060.697351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1064.790108 meters looking forward 0.000000 meters along route # Maximum depth: 1064.790108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.790108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737891; longitude = -121.848671; captureRadius = 10; duration = 122; initialDepth = 1013.331505; finalDepth = 1014.790108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.790108 # Seafloor depth:-1064.790108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.331505 meters looking forward 0.000000 meters along route # Maximum depth: 1063.331505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.331505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.848047; captureRadius = 10; duration = 122; initialDepth = 1013.659225; finalDepth = 1013.331505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.331505 # Seafloor depth:-1063.331505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.659225 meters looking forward 0.000000 meters along route # Maximum depth: 1063.659225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.659225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.847385; captureRadius = 10; duration = 122; initialDepth = 1013.624425; finalDepth = 1013.659225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.659225 # Seafloor depth:-1063.659225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.624425 meters looking forward 0.000000 meters along route # Maximum depth: 1063.624425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.624425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.846724; captureRadius = 10; duration = 122; initialDepth = 1011.180395; finalDepth = 1013.624425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.624425 # Seafloor depth:-1063.624425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.180395 meters looking forward 0.000000 meters along route # Maximum depth: 1061.180395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.180395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.846062; captureRadius = 10; duration = 122; initialDepth = 1010.702183; finalDepth = 1011.180395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.180395 # Seafloor depth:-1061.180395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.702183 meters looking forward 0.000000 meters along route # Maximum depth: 1060.702183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.702183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742046; longitude = -121.845354; captureRadius = 10; duration = 122; initialDepth = 1009.148655; finalDepth = 1010.702183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.702183 # Seafloor depth:-1060.702183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.148655 meters looking forward 0.000000 meters along route # Maximum depth: 1059.148655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.148655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.844738; captureRadius = 10; duration = 122; initialDepth = 1012.790279; finalDepth = 1009.148655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.148655 # Seafloor depth:-1059.148655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.790279 meters looking forward 0.000000 meters along route # Maximum depth: 1062.790279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.790279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.844076; captureRadius = 10; duration = 122; initialDepth = 1010.053255; finalDepth = 1012.790279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.790279 # Seafloor depth:-1062.790279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.053255 meters looking forward 0.000000 meters along route # Maximum depth: 1060.053255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.053255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.843414; captureRadius = 10; duration = 122; initialDepth = 1010.332348; finalDepth = 1010.053255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.053255 # Seafloor depth:-1060.053255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.332348 meters looking forward 0.000000 meters along route # Maximum depth: 1060.332348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.332348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.842752; captureRadius = 10; duration = 122; initialDepth = 1011.479174; finalDepth = 1010.332348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.332348 # Seafloor depth:-1060.332348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.479174 meters looking forward 0.000000 meters along route # Maximum depth: 1061.479174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.479174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746201; longitude = -121.842038; captureRadius = 10; duration = 122; initialDepth = 1009.502971; finalDepth = 1011.479174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.479174 # Seafloor depth:-1061.479174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.502971 meters looking forward 0.000000 meters along route # Maximum depth: 1059.502971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.502971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.841429; captureRadius = 10; duration = 122; initialDepth = 1011.298125; finalDepth = 1009.502971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.502971 # Seafloor depth:-1059.502971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.298125 meters looking forward 0.000000 meters along route # Maximum depth: 1061.298125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.298125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.840767; captureRadius = 10; duration = 122; initialDepth = 1008.475088; finalDepth = 1011.298125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.298125 # Seafloor depth:-1061.298125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.475088 meters looking forward 0.000000 meters along route # Maximum depth: 1058.475088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.475088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748625; longitude = -121.840103; captureRadius = 10; duration = 122; initialDepth = 1008.937965; finalDepth = 1008.475088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.475088 # Seafloor depth:-1058.475088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.937965 meters looking forward 0.000000 meters along route # Maximum depth: 1058.937965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.937965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.839443; captureRadius = 10; duration = 122; initialDepth = 1013.575249; finalDepth = 1008.937965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.937965 # Seafloor depth:-1058.937965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.575249 meters looking forward 0.000000 meters along route # Maximum depth: 1063.575249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.575249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.838781; captureRadius = 10; duration = 122; initialDepth = 1007.201228; finalDepth = 1013.575249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.575249 # Seafloor depth:-1063.575249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.201228 meters looking forward 0.000000 meters along route # Maximum depth: 1057.201228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.201228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.838119; captureRadius = 10; duration = 122; initialDepth = 1012.091506; finalDepth = 1007.201228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.201228 # Seafloor depth:-1057.201228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.091506 meters looking forward 0.000000 meters along route # Maximum depth: 1062.091506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.091506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.837457; captureRadius = 10; duration = 122; initialDepth = 1023.161035; finalDepth = 1012.091506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.091506 # Seafloor depth:-1062.091506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1073.161035 meters looking forward 0.000000 meters along route # Maximum depth: 1073.161035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.161035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752781; longitude = -121.836786; captureRadius = 10; duration = 122; initialDepth = 1015.795103; finalDepth = 1023.161035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.161035 # Seafloor depth:-1073.161035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.795103 meters looking forward 0.000000 meters along route # Maximum depth: 1065.795103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.795103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.836134; captureRadius = 10; duration = 122; initialDepth = 1012.442612; finalDepth = 1015.795103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.795103 # Seafloor depth:-1065.795103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.442612 meters looking forward 0.000000 meters along route # Maximum depth: 1062.442612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.442612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.835472; captureRadius = 10; duration = 122; initialDepth = 1012.114135; finalDepth = 1012.442612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.442612 # Seafloor depth:-1062.442612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.114135 meters looking forward 0.000000 meters along route # Maximum depth: 1062.114135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.114135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.834810; captureRadius = 10; duration = 122; initialDepth = 1009.461329; finalDepth = 1012.114135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.114135 # Seafloor depth:-1062.114135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.461329 meters looking forward 0.000000 meters along route # Maximum depth: 1059.461329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.461329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.834148; captureRadius = 10; duration = 122; initialDepth = 1007.497726; finalDepth = 1009.461329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.461329 # Seafloor depth:-1059.461329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.497726 meters looking forward 0.000000 meters along route # Maximum depth: 1057.497726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.497726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756936; longitude = -121.833469; captureRadius = 10; duration = 122; initialDepth = 1012.877104; finalDepth = 1007.497726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.497726 # Seafloor depth:-1057.497726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.877104 meters looking forward 0.000000 meters along route # Maximum depth: 1062.877104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.877104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.832824; captureRadius = 10; duration = 122; initialDepth = 1012.752148; finalDepth = 1012.877104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.877104 # Seafloor depth:-1062.877104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.752148 meters looking forward 0.000000 meters along route # Maximum depth: 1062.752148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.752148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.832163; captureRadius = 10; duration = 122; initialDepth = 1012.069400; finalDepth = 1012.752148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.752148 # Seafloor depth:-1062.752148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.069400 meters looking forward 0.000000 meters along route # Maximum depth: 1062.069400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.069400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.831501; captureRadius = 10; duration = 122; initialDepth = 1013.026079; finalDepth = 1012.069400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.0694 # Seafloor depth:-1062.069400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.026079 meters looking forward 0.000000 meters along route # Maximum depth: 1063.026079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.026079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.830839; captureRadius = 10; duration = 122; initialDepth = 1006.884914; finalDepth = 1013.026079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.026079 # Seafloor depth:-1063.026079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.884914 meters looking forward 0.000000 meters along route # Maximum depth: 1056.884914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.884914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761092; longitude = -121.830152; captureRadius = 10; duration = 122; initialDepth = 1012.064781; finalDepth = 1006.884914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.884914 # Seafloor depth:-1056.884914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.064781 meters looking forward 0.000000 meters along route # Maximum depth: 1062.064781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.064781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.829515; captureRadius = 10; duration = 122; initialDepth = 1008.815797; finalDepth = 1012.064781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.064781 # Seafloor depth:-1062.064781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.815797 meters looking forward 0.000000 meters along route # Maximum depth: 1058.815797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.815797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.828853; captureRadius = 10; duration = 122; initialDepth = 1009.608957; finalDepth = 1008.815797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.815797 # Seafloor depth:-1058.815797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.608957 meters looking forward 0.000000 meters along route # Maximum depth: 1059.608957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.608957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.828191; captureRadius = 10; duration = 122; initialDepth = 1009.322112; finalDepth = 1009.608957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.608957 # Seafloor depth:-1059.608957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.322112 meters looking forward 0.000000 meters along route # Maximum depth: 1059.322112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.322112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.827529; captureRadius = 10; duration = 122; initialDepth = 1013.188536; finalDepth = 1009.322112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.322112 # Seafloor depth:-1059.322112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1063.188536 meters looking forward 0.000000 meters along route # Maximum depth: 1063.188536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.188536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765247; longitude = -121.826835; captureRadius = 10; duration = 122; initialDepth = 1010.473462; finalDepth = 1013.188536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.188536 # Seafloor depth:-1063.188536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.473462 meters looking forward 0.000000 meters along route # Maximum depth: 1060.473462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.473462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.826206; captureRadius = 10; duration = 122; initialDepth = 1008.266946; finalDepth = 1010.473462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.473462 # Seafloor depth:-1060.473462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.266946 meters looking forward 0.000000 meters along route # Maximum depth: 1058.266946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.266946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.825544; captureRadius = 10; duration = 122; initialDepth = 1008.225717; finalDepth = 1008.266946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.266946 # Seafloor depth:-1058.266946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.225717 meters looking forward 0.000000 meters along route # Maximum depth: 1058.225717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.225717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.824882; captureRadius = 10; duration = 122; initialDepth = 1009.293119; finalDepth = 1008.225717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.225717 # Seafloor depth:-1058.225717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.293119 meters looking forward 0.000000 meters along route # Maximum depth: 1059.293119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.293119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.824220; captureRadius = 10; duration = 122; initialDepth = 1007.956658; finalDepth = 1009.293119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.293119 # Seafloor depth:-1059.293119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.956658 meters looking forward 0.000000 meters along route # Maximum depth: 1057.956658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.956658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769403; longitude = -121.823519; captureRadius = 10; duration = 122; initialDepth = 1008.071766; finalDepth = 1007.956658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.956658 # Seafloor depth:-1057.956658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.071766 meters looking forward 0.000000 meters along route # Maximum depth: 1058.071766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.071766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.822896; captureRadius = 10; duration = 122; initialDepth = 1007.985034; finalDepth = 1008.071766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.071766 # Seafloor depth:-1058.071766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.985034 meters looking forward 0.000000 meters along route # Maximum depth: 1057.985034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.985034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.822234; captureRadius = 10; duration = 122; initialDepth = 1006.954539; finalDepth = 1007.985034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.985034 # Seafloor depth:-1057.985034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.954539 meters looking forward 0.000000 meters along route # Maximum depth: 1056.954539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.954539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.821573; captureRadius = 10; duration = 122; initialDepth = 1007.205957; finalDepth = 1006.954539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.954539 # Seafloor depth:-1056.954539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.205957 meters looking forward 0.000000 meters along route # Maximum depth: 1057.205957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.205957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.820911; captureRadius = 10; duration = 122; initialDepth = 1012.314994; finalDepth = 1007.205957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.205957 # Seafloor depth:-1057.205957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.314994 meters looking forward 0.000000 meters along route # Maximum depth: 1062.314994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.314994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773558; longitude = -121.820202; captureRadius = 10; duration = 122; initialDepth = 1011.381888; finalDepth = 1012.314994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.314994 # Seafloor depth:-1062.314994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.381888 meters looking forward 0.000000 meters along route # Maximum depth: 1061.381888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.381888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.819587; captureRadius = 10; duration = 122; initialDepth = 1010.089208; finalDepth = 1011.381888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.381888 # Seafloor depth:-1061.381888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.089208 meters looking forward 0.000000 meters along route # Maximum depth: 1060.089208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.089208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.818925; captureRadius = 10; duration = 122; initialDepth = 1011.399490; finalDepth = 1010.089208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.089208 # Seafloor depth:-1060.089208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.399490 meters looking forward 0.000000 meters along route # Maximum depth: 1061.399490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.399490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.818263; captureRadius = 10; duration = 122; initialDepth = 1007.041815; finalDepth = 1011.399490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.39949 # Seafloor depth:-1061.399490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.041815 meters looking forward 0.000000 meters along route # Maximum depth: 1057.041815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.041815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.817601; captureRadius = 10; duration = 122; initialDepth = 1006.890011; finalDepth = 1007.041815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.041815 # Seafloor depth:-1057.041815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.890011 meters looking forward 0.000000 meters along route # Maximum depth: 1056.890011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.890011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777714; longitude = -121.816885; captureRadius = 10; duration = 122; initialDepth = 1011.498582; finalDepth = 1006.890011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.890011 # Seafloor depth:-1056.890011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.498582 meters looking forward 0.000000 meters along route # Maximum depth: 1061.498582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.498582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.816278; captureRadius = 10; duration = 122; initialDepth = 1015.264080; finalDepth = 1011.498582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.498582 # Seafloor depth:-1061.498582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1065.264080 meters looking forward 0.000000 meters along route # Maximum depth: 1065.264080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.264080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.815616; captureRadius = 10; duration = 122; initialDepth = 1012.705509; finalDepth = 1015.264080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.26408 # Seafloor depth:-1065.264080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.705509 meters looking forward 0.000000 meters along route # Maximum depth: 1062.705509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.705509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780138; longitude = -121.814950; captureRadius = 10; duration = 122; initialDepth = 1009.167770; finalDepth = 1012.705509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.705509 # Seafloor depth:-1062.705509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.167770 meters looking forward 0.000000 meters along route # Maximum depth: 1059.167770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.167770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.814292; captureRadius = 10; duration = 122; initialDepth = 1007.820786; finalDepth = 1009.167770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.16777 # Seafloor depth:-1059.167770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.820786 meters looking forward 0.000000 meters along route # Maximum depth: 1057.820786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.820786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.813630; captureRadius = 10; duration = 122; initialDepth = 1006.832156; finalDepth = 1007.820786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.820786 # Seafloor depth:-1057.820786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.832156 meters looking forward 0.000000 meters along route # Maximum depth: 1056.832156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.832156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.812968; captureRadius = 10; duration = 122; initialDepth = 1005.968948; finalDepth = 1006.832156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.832156 # Seafloor depth:-1056.832156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.968948 meters looking forward 0.000000 meters along route # Maximum depth: 1055.968948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.968948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.812306; captureRadius = 10; duration = 122; initialDepth = 1002.527915; finalDepth = 1005.968948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.968948 # Seafloor depth:-1055.968948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.527915 meters looking forward 0.000000 meters along route # Maximum depth: 1052.527915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.527915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784293; longitude = -121.811633; captureRadius = 10; duration = 122; initialDepth = 1002.599285; finalDepth = 1002.527915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.527915 # Seafloor depth:-1052.527915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.599285 meters looking forward 0.000000 meters along route # Maximum depth: 1052.599285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.599285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.810983; captureRadius = 10; duration = 122; initialDepth = 1003.931027; finalDepth = 1002.599285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.599285 # Seafloor depth:-1052.599285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.931027 meters looking forward 0.000000 meters along route # Maximum depth: 1053.931027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.931027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.810321; captureRadius = 10; duration = 122; initialDepth = 1007.416263; finalDepth = 1003.931027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.931027 # Seafloor depth:-1053.931027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.416263 meters looking forward 0.000000 meters along route # Maximum depth: 1057.416263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.416263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.809659; captureRadius = 10; duration = 122; initialDepth = 1001.720303; finalDepth = 1007.416263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.416263 # Seafloor depth:-1057.416263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.720303 meters looking forward 0.000000 meters along route # Maximum depth: 1051.720303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.720303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.808997; captureRadius = 10; duration = 122; initialDepth = 999.260984; finalDepth = 1001.720303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.720303 # Seafloor depth:-1051.720303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.260984 meters looking forward 0.000000 meters along route # Maximum depth: 1049.260984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.260984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788449; longitude = -121.808316; captureRadius = 10; duration = 122; initialDepth = 998.661962; finalDepth = 999.260984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.260984 # Seafloor depth:-1049.260984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.661962 meters looking forward 0.000000 meters along route # Maximum depth: 1048.661962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.661962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.807673; captureRadius = 10; duration = 122; initialDepth = 996.614217; finalDepth = 998.661962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.661962 # Seafloor depth:-1048.661962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.614217 meters looking forward 0.000000 meters along route # Maximum depth: 1046.614217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.614217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.807012; captureRadius = 10; duration = 122; initialDepth = 996.529423; finalDepth = 996.614217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.614217 # Seafloor depth:-1046.614217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.529423 meters looking forward 0.000000 meters along route # Maximum depth: 1046.529423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.529423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.806350; captureRadius = 10; duration = 122; initialDepth = 996.367107; finalDepth = 996.529423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.529423 # Seafloor depth:-1046.529423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.367107 meters looking forward 0.000000 meters along route # Maximum depth: 1046.367107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.367107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.805688; captureRadius = 10; duration = 122; initialDepth = 994.734385; finalDepth = 996.367107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.367107 # Seafloor depth:-1046.367107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.734385 meters looking forward 0.000000 meters along route # Maximum depth: 1044.734385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.734385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792604; longitude = -121.805000; captureRadius = 10; duration = 122; initialDepth = 994.386169; finalDepth = 994.734385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.734385 # Seafloor depth:-1044.734385 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1044.386169 meters looking forward 0.000000 meters along route # Maximum depth: 1044.386169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.386169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793401; longitude = -121.804364; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 994.124428; finalDepth = 994.386169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.386169 # Seafloor depth:-1044.386169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.124428 meters looking forward 0.000000 meters along route # Maximum depth: 1044.124428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.124428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793298; longitude = -121.804170; captureRadius = 10; duration = 122; initialDepth = 991.883240; finalDepth = 994.124428; 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:994.124428 # Seafloor depth:-1044.124428 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1041.883240 meters looking forward 0.000000 meters along route # Maximum depth: 1041.883240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.883240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792663; longitude = -121.802973; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 993.770307; finalDepth = 991.883240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.88324 # Seafloor depth:-1041.883240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.770307 meters looking forward 0.000000 meters along route # Maximum depth: 1043.770307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.770307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792548; longitude = -121.803065; captureRadius = 10; duration = 122; initialDepth = 993.674492; finalDepth = 993.770307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.770307 # Seafloor depth:-1043.770307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.674492 meters looking forward 0.000000 meters along route # Maximum depth: 1043.674492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.674492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.803708; captureRadius = 10; duration = 122; initialDepth = 992.888568; finalDepth = 993.674492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.674492 # Seafloor depth:-1043.674492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1042.888568 meters looking forward 0.000000 meters along route # Maximum depth: 1042.888568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.888568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.804370; captureRadius = 10; duration = 122; initialDepth = 994.984596; finalDepth = 992.888568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.888568 # Seafloor depth:-1042.888568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.984596 meters looking forward 0.000000 meters along route # Maximum depth: 1044.984596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.984596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.805032; captureRadius = 10; duration = 122; initialDepth = 994.384463; finalDepth = 994.984596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.984596 # Seafloor depth:-1044.984596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.384463 meters looking forward 0.000000 meters along route # Maximum depth: 1044.384463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.384463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.805694; captureRadius = 10; duration = 122; initialDepth = 995.238949; finalDepth = 994.384463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.384463 # Seafloor depth:-1044.384463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1045.238949 meters looking forward 0.000000 meters along route # Maximum depth: 1045.238949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.238949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788392; longitude = -121.806382; captureRadius = 10; duration = 122; initialDepth = 997.875276; finalDepth = 995.238949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.238949 # Seafloor depth:-1045.238949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.875276 meters looking forward 0.000000 meters along route # Maximum depth: 1047.875276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.875276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.807017; captureRadius = 10; duration = 122; initialDepth = 999.840927; finalDepth = 997.875276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.875276 # Seafloor depth:-1047.875276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.840927 meters looking forward 0.000000 meters along route # Maximum depth: 1049.840927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.840927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.807679; captureRadius = 10; duration = 122; initialDepth = 1000.737084; finalDepth = 999.840927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.840927 # Seafloor depth:-1049.840927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.737084 meters looking forward 0.000000 meters along route # Maximum depth: 1050.737084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.737084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.808341; captureRadius = 10; duration = 122; initialDepth = 1003.584136; finalDepth = 1000.737084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.737084 # Seafloor depth:-1050.737084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.584136 meters looking forward 0.000000 meters along route # Maximum depth: 1053.584136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.584136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.809003; captureRadius = 10; duration = 122; initialDepth = 1001.242980; finalDepth = 1003.584136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.584136 # Seafloor depth:-1053.584136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.242980 meters looking forward 0.000000 meters along route # Maximum depth: 1051.242980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.242980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784237; longitude = -121.809698; captureRadius = 10; duration = 122; initialDepth = 1000.836891; finalDepth = 1001.242980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.24298 # Seafloor depth:-1051.242980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.836891 meters looking forward 0.000000 meters along route # Maximum depth: 1050.836891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.836891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.810327; captureRadius = 10; duration = 122; initialDepth = 1003.131112; finalDepth = 1000.836891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.836891 # Seafloor depth:-1050.836891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.131112 meters looking forward 0.000000 meters along route # Maximum depth: 1053.131112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.131112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.810989; captureRadius = 10; duration = 122; initialDepth = 1004.225202; finalDepth = 1003.131112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.131112 # Seafloor depth:-1053.131112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.225202 meters looking forward 0.000000 meters along route # Maximum depth: 1054.225202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.225202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.811651; captureRadius = 10; duration = 122; initialDepth = 1005.794430; finalDepth = 1004.225202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.225202 # Seafloor depth:-1054.225202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.794430 meters looking forward 0.000000 meters along route # Maximum depth: 1055.794430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.794430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.812312; captureRadius = 10; duration = 122; initialDepth = 1008.239414; finalDepth = 1005.794430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.79443 # Seafloor depth:-1055.794430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.239414 meters looking forward 0.000000 meters along route # Maximum depth: 1058.239414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.239414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780082; longitude = -121.813015; captureRadius = 10; duration = 122; initialDepth = 1008.658863; finalDepth = 1008.239414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.239414 # Seafloor depth:-1058.239414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.658863 meters looking forward 0.000000 meters along route # Maximum depth: 1058.658863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.658863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.813636; captureRadius = 10; duration = 122; initialDepth = 1008.677234; finalDepth = 1008.658863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.658863 # Seafloor depth:-1058.658863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.677234 meters looking forward 0.000000 meters along route # Maximum depth: 1058.677234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.677234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.814298; captureRadius = 10; duration = 122; initialDepth = 1007.967186; finalDepth = 1008.677234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.677234 # Seafloor depth:-1058.677234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.967186 meters looking forward 0.000000 meters along route # Maximum depth: 1057.967186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.967186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.814960; captureRadius = 10; duration = 122; initialDepth = 1004.769402; finalDepth = 1007.967186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.967186 # Seafloor depth:-1057.967186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.769402 meters looking forward 0.000000 meters along route # Maximum depth: 1054.769402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.769402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.815622; captureRadius = 10; duration = 122; initialDepth = 1010.382692; finalDepth = 1004.769402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.769402 # Seafloor depth:-1054.769402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.382692 meters looking forward 0.000000 meters along route # Maximum depth: 1060.382692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.382692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775926; longitude = -121.816332; captureRadius = 10; duration = 122; initialDepth = 1011.352340; finalDepth = 1010.382692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.382692 # Seafloor depth:-1060.382692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.352340 meters looking forward 0.000000 meters along route # Maximum depth: 1061.352340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.352340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.816946; captureRadius = 10; duration = 122; initialDepth = 1007.916461; finalDepth = 1011.352340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.35234 # Seafloor depth:-1061.352340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.916461 meters looking forward 0.000000 meters along route # Maximum depth: 1057.916461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.916461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.817607; captureRadius = 10; duration = 122; initialDepth = 1008.303598; finalDepth = 1007.916461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.916461 # Seafloor depth:-1057.916461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.303598 meters looking forward 0.000000 meters along route # Maximum depth: 1058.303598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.303598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.818269; captureRadius = 10; duration = 122; initialDepth = 1006.510094; finalDepth = 1008.303598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.303598 # Seafloor depth:-1058.303598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.510094 meters looking forward 0.000000 meters along route # Maximum depth: 1056.510094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.510094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.818931; captureRadius = 10; duration = 122; initialDepth = 1004.290951; finalDepth = 1006.510094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.510094 # Seafloor depth:-1056.510094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.290951 meters looking forward 0.000000 meters along route # Maximum depth: 1054.290951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.290951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771771; longitude = -121.819649; captureRadius = 10; duration = 122; initialDepth = 1006.051099; finalDepth = 1004.290951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.290951 # Seafloor depth:-1054.290951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.051099 meters looking forward 0.000000 meters along route # Maximum depth: 1056.051099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.051099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.820255; captureRadius = 10; duration = 122; initialDepth = 1005.608202; finalDepth = 1006.051099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.051099 # Seafloor depth:-1056.051099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.608202 meters looking forward 0.000000 meters along route # Maximum depth: 1055.608202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.608202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.820917; captureRadius = 10; duration = 122; initialDepth = 1004.896601; finalDepth = 1005.608202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.608202 # Seafloor depth:-1055.608202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.896601 meters looking forward 0.000000 meters along route # Maximum depth: 1054.896601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.896601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769347; longitude = -121.821584; captureRadius = 10; duration = 122; initialDepth = 1005.209725; finalDepth = 1004.896601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.896601 # Seafloor depth:-1054.896601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.209725 meters looking forward 0.000000 meters along route # Maximum depth: 1055.209725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.209725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.822241; captureRadius = 10; duration = 122; initialDepth = 1005.103548; finalDepth = 1005.209725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.209725 # Seafloor depth:-1055.209725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.103548 meters looking forward 0.000000 meters along route # Maximum depth: 1055.103548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.103548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.822903; captureRadius = 10; duration = 122; initialDepth = 1001.738741; finalDepth = 1005.103548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.103548 # Seafloor depth:-1055.103548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.738741 meters looking forward 0.000000 meters along route # Maximum depth: 1051.738741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.738741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.823564; captureRadius = 10; duration = 122; initialDepth = 1007.108107; finalDepth = 1001.738741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.738741 # Seafloor depth:-1051.738741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.108107 meters looking forward 0.000000 meters along route # Maximum depth: 1057.108107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.108107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.824226; captureRadius = 10; duration = 122; initialDepth = 1005.036599; finalDepth = 1007.108107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.108107 # Seafloor depth:-1057.108107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.036599 meters looking forward 0.000000 meters along route # Maximum depth: 1055.036599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.036599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765192; longitude = -121.824901; captureRadius = 10; duration = 122; initialDepth = 1012.073848; finalDepth = 1005.036599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.036599 # Seafloor depth:-1055.036599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.073848 meters looking forward 0.000000 meters along route # Maximum depth: 1062.073848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.073848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.825550; captureRadius = 10; duration = 122; initialDepth = 1011.059062; finalDepth = 1012.073848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.073848 # Seafloor depth:-1062.073848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.059062 meters looking forward 0.000000 meters along route # Maximum depth: 1061.059062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.059062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.826212; captureRadius = 10; duration = 122; initialDepth = 1006.566449; finalDepth = 1011.059062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.059062 # Seafloor depth:-1061.059062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.566449 meters looking forward 0.000000 meters along route # Maximum depth: 1056.566449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.566449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.826874; captureRadius = 10; duration = 122; initialDepth = 1008.292417; finalDepth = 1006.566449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.566449 # Seafloor depth:-1056.566449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.292417 meters looking forward 0.000000 meters along route # Maximum depth: 1058.292417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.292417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.827536; captureRadius = 10; duration = 122; initialDepth = 1005.711523; finalDepth = 1008.292417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.292417 # Seafloor depth:-1058.292417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.711523 meters looking forward 0.000000 meters along route # Maximum depth: 1055.711523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.711523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761036; longitude = -121.828217; captureRadius = 10; duration = 122; initialDepth = 1009.148413; finalDepth = 1005.711523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.711523 # Seafloor depth:-1055.711523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.148413 meters looking forward 0.000000 meters along route # Maximum depth: 1059.148413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.148413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.828859; captureRadius = 10; duration = 122; initialDepth = 1009.544211; finalDepth = 1009.148413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.148413 # Seafloor depth:-1059.148413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.544211 meters looking forward 0.000000 meters along route # Maximum depth: 1059.544211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.544211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.829521; captureRadius = 10; duration = 122; initialDepth = 1008.828011; finalDepth = 1009.544211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.544211 # Seafloor depth:-1059.544211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.828011 meters looking forward 0.000000 meters along route # Maximum depth: 1058.828011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.828011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.830183; captureRadius = 10; duration = 122; initialDepth = 1008.779817; finalDepth = 1008.828011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.828011 # Seafloor depth:-1058.828011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.779817 meters looking forward 0.000000 meters along route # Maximum depth: 1058.779817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.779817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.830845; captureRadius = 10; duration = 122; initialDepth = 1008.389463; finalDepth = 1008.779817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.779817 # Seafloor depth:-1058.779817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.389463 meters looking forward 0.000000 meters along route # Maximum depth: 1058.389463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.389463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756881; longitude = -121.831534; captureRadius = 10; duration = 122; initialDepth = 1005.737171; finalDepth = 1008.389463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.389463 # Seafloor depth:-1058.389463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.737171 meters looking forward 0.000000 meters along route # Maximum depth: 1055.737171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.737171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.832169; captureRadius = 10; duration = 122; initialDepth = 1006.885220; finalDepth = 1005.737171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.737171 # Seafloor depth:-1055.737171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.885220 meters looking forward 0.000000 meters along route # Maximum depth: 1056.885220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.885220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.832831; captureRadius = 10; duration = 122; initialDepth = 1012.519263; finalDepth = 1006.885220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.88522 # Seafloor depth:-1056.885220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.519263 meters looking forward 0.000000 meters along route # Maximum depth: 1062.519263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.519263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.833493; captureRadius = 10; duration = 122; initialDepth = 1012.320648; finalDepth = 1012.519263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.519263 # Seafloor depth:-1062.519263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.320648 meters looking forward 0.000000 meters along route # Maximum depth: 1062.320648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.320648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.834155; captureRadius = 10; duration = 122; initialDepth = 1008.450058; finalDepth = 1012.320648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.320648 # Seafloor depth:-1062.320648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.450058 meters looking forward 0.000000 meters along route # Maximum depth: 1058.450058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.450058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752725; longitude = -121.834851; captureRadius = 10; duration = 122; initialDepth = 1012.585217; finalDepth = 1008.450058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.450058 # Seafloor depth:-1058.450058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.585217 meters looking forward 0.000000 meters along route # Maximum depth: 1062.585217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.585217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.835478; captureRadius = 10; duration = 122; initialDepth = 1022.965755; finalDepth = 1012.585217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.585217 # Seafloor depth:-1062.585217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1072.965755 meters looking forward 0.000000 meters along route # Maximum depth: 1072.965755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.965755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.836140; captureRadius = 10; duration = 122; initialDepth = 1005.690610; finalDepth = 1022.965755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.965755 # Seafloor depth:-1072.965755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.690610 meters looking forward 0.000000 meters along route # Maximum depth: 1055.690610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.690610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.836802; captureRadius = 10; duration = 122; initialDepth = 1009.813859; finalDepth = 1005.690610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.69061 # Seafloor depth:-1055.690610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.813859 meters looking forward 0.000000 meters along route # Maximum depth: 1059.813859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.813859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.837464; captureRadius = 10; duration = 122; initialDepth = 1007.811094; finalDepth = 1009.813859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.813859 # Seafloor depth:-1059.813859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.811094 meters looking forward 0.000000 meters along route # Maximum depth: 1057.811094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.811094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748570; longitude = -121.838168; captureRadius = 10; duration = 122; initialDepth = 1007.880111; finalDepth = 1007.811094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.811094 # Seafloor depth:-1057.811094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.880111 meters looking forward 0.000000 meters along route # Maximum depth: 1057.880111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.880111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.838788; captureRadius = 10; duration = 122; initialDepth = 1007.031870; finalDepth = 1007.880111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.880111 # Seafloor depth:-1057.880111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.031870 meters looking forward 0.000000 meters along route # Maximum depth: 1057.031870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.031870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.839450; captureRadius = 10; duration = 122; initialDepth = 1007.698364; finalDepth = 1007.031870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.03187 # Seafloor depth:-1057.031870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.698364 meters looking forward 0.000000 meters along route # Maximum depth: 1057.698364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.698364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.840111; captureRadius = 10; duration = 122; initialDepth = 1006.636753; finalDepth = 1007.698364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.698364 # Seafloor depth:-1057.698364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.636753 meters looking forward 0.000000 meters along route # Maximum depth: 1056.636753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.636753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.840773; captureRadius = 10; duration = 122; initialDepth = 1008.717935; finalDepth = 1006.636753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.636753 # Seafloor depth:-1056.636753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.717935 meters looking forward 0.000000 meters along route # Maximum depth: 1058.717935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.717935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744415; longitude = -121.841485; captureRadius = 10; duration = 122; initialDepth = 1004.892823; finalDepth = 1008.717935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.717935 # Seafloor depth:-1058.717935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.892823 meters looking forward 0.000000 meters along route # Maximum depth: 1054.892823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.892823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.842097; captureRadius = 10; duration = 122; initialDepth = 1007.470925; finalDepth = 1004.892823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.892823 # Seafloor depth:-1054.892823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.470925 meters looking forward 0.000000 meters along route # Maximum depth: 1057.470925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.470925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.842759; captureRadius = 10; duration = 122; initialDepth = 1009.857158; finalDepth = 1007.470925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.470925 # Seafloor depth:-1057.470925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.857158 meters looking forward 0.000000 meters along route # Maximum depth: 1059.857158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.857158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.843421; captureRadius = 10; duration = 122; initialDepth = 1004.886098; finalDepth = 1009.857158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.857158 # Seafloor depth:-1059.857158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.886098 meters looking forward 0.000000 meters along route # Maximum depth: 1054.886098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.886098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.844083; captureRadius = 10; duration = 122; initialDepth = 1008.989100; finalDepth = 1004.886098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.886098 # Seafloor depth:-1054.886098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.989100 meters looking forward 0.000000 meters along route # Maximum depth: 1058.989100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.989100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740259; longitude = -121.844802; captureRadius = 10; duration = 122; initialDepth = 1009.263652; finalDepth = 1008.989100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.9891 # Seafloor depth:-1058.989100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.263652 meters looking forward 0.000000 meters along route # Maximum depth: 1059.263652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.263652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.845407; captureRadius = 10; duration = 122; initialDepth = 1008.762123; finalDepth = 1009.263652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.263652 # Seafloor depth:-1059.263652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.762123 meters looking forward 0.000000 meters along route # Maximum depth: 1058.762123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.762123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.846068; captureRadius = 10; duration = 122; initialDepth = 1016.311145; finalDepth = 1008.762123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.762123 # Seafloor depth:-1058.762123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1066.311145 meters looking forward 0.000000 meters along route # Maximum depth: 1066.311145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.311145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737835; longitude = -121.846736; captureRadius = 10; duration = 122; initialDepth = 1007.550421; finalDepth = 1016.311145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.311145 # Seafloor depth:-1066.311145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.550421 meters looking forward 0.000000 meters along route # Maximum depth: 1057.550421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.550421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.847392; captureRadius = 10; duration = 122; initialDepth = 1008.361099; finalDepth = 1007.550421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.550421 # Seafloor depth:-1057.550421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.361099 meters looking forward 0.000000 meters along route # Maximum depth: 1058.361099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.361099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.848054; captureRadius = 10; duration = 122; initialDepth = 1010.617664; finalDepth = 1008.361099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.361099 # Seafloor depth:-1058.361099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.617664 meters looking forward 0.000000 meters along route # Maximum depth: 1060.617664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.617664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.848716; captureRadius = 10; duration = 122; initialDepth = 1008.105907; finalDepth = 1010.617664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.617664 # Seafloor depth:-1060.617664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.105907 meters looking forward 0.000000 meters along route # Maximum depth: 1058.105907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.105907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.849378; captureRadius = 10; duration = 122; initialDepth = 1007.997904; finalDepth = 1008.105907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.105907 # Seafloor depth:-1058.105907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.997904 meters looking forward 0.000000 meters along route # Maximum depth: 1057.997904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.997904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733680; longitude = -121.850053; captureRadius = 10; duration = 122; initialDepth = 1010.503178; finalDepth = 1007.997904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.997904 # Seafloor depth:-1057.997904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.503178 meters looking forward 0.000000 meters along route # Maximum depth: 1060.503178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.503178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.850702; captureRadius = 10; duration = 122; initialDepth = 1007.883421; finalDepth = 1010.503178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.503178 # Seafloor depth:-1060.503178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.883421 meters looking forward 0.000000 meters along route # Maximum depth: 1057.883421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.883421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731949; longitude = -121.851435; captureRadius = 10; duration = 122; initialDepth = 1008.911163; finalDepth = 1007.883421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.883421 # Seafloor depth:-1057.883421 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1058.911163 meters looking forward 0.000000 meters along route # Maximum depth: 1058.911163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.911163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731025; longitude = -121.852172; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1007.882540; finalDepth = 1008.911163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.911163 # Seafloor depth:-1058.911163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.882540 meters looking forward 0.000000 meters along route # Maximum depth: 1057.882540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.882540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730781; longitude = -121.851712; captureRadius = 10; duration = 122; initialDepth = 1006.861755; finalDepth = 1007.882540; 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:1007.88254 # Seafloor depth:-1057.882540 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1056.861755 meters looking forward 0.000000 meters along route # Maximum depth: 1056.861755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.861755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730288; longitude = -121.850782; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1006.679099; finalDepth = 1006.861755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.861755 # Seafloor depth:-1056.861755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.679099 meters looking forward 0.000000 meters along route # Maximum depth: 1056.679099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.679099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.850708; captureRadius = 10; duration = 122; initialDepth = 1005.475455; finalDepth = 1006.679099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.679099 # Seafloor depth:-1056.679099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.475455 meters looking forward 0.000000 meters along route # Maximum depth: 1055.475455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.475455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.850047; captureRadius = 10; duration = 122; initialDepth = 1008.231703; finalDepth = 1005.475455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.475455 # Seafloor depth:-1055.475455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.231703 meters looking forward 0.000000 meters along route # Maximum depth: 1058.231703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.231703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.849385; captureRadius = 10; duration = 122; initialDepth = 1007.267656; finalDepth = 1008.231703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.231703 # Seafloor depth:-1058.231703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.267656 meters looking forward 0.000000 meters along route # Maximum depth: 1057.267656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.267656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732932; longitude = -121.848671; captureRadius = 10; duration = 122; initialDepth = 1005.958811; finalDepth = 1007.267656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.267656 # Seafloor depth:-1057.267656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.958811 meters looking forward 0.000000 meters along route # Maximum depth: 1055.958811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.958811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.848061; captureRadius = 10; duration = 122; initialDepth = 1006.835300; finalDepth = 1005.958811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.958811 # Seafloor depth:-1055.958811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.835300 meters looking forward 0.000000 meters along route # Maximum depth: 1056.835300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.835300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.847399; captureRadius = 10; duration = 122; initialDepth = 1007.148089; finalDepth = 1006.835300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.8353 # Seafloor depth:-1056.835300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.148089 meters looking forward 0.000000 meters along route # Maximum depth: 1057.148089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.148089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735356; longitude = -121.846736; captureRadius = 10; duration = 122; initialDepth = 1006.972381; finalDepth = 1007.148089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.148089 # Seafloor depth:-1057.148089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.972381 meters looking forward 0.000000 meters along route # Maximum depth: 1056.972381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.972381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.846075; captureRadius = 10; duration = 122; initialDepth = 1008.127657; finalDepth = 1006.972381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.972381 # Seafloor depth:-1056.972381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.127657 meters looking forward 0.000000 meters along route # Maximum depth: 1058.127657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.127657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.845413; captureRadius = 10; duration = 122; initialDepth = 1007.718061; finalDepth = 1008.127657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.127657 # Seafloor depth:-1058.127657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.718061 meters looking forward 0.000000 meters along route # Maximum depth: 1057.718061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.718061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.844751; captureRadius = 10; duration = 122; initialDepth = 1005.133156; finalDepth = 1007.718061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.718061 # Seafloor depth:-1057.718061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.133156 meters looking forward 0.000000 meters along route # Maximum depth: 1055.133156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.133156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.844089; captureRadius = 10; duration = 122; initialDepth = 1005.701155; finalDepth = 1005.133156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.133156 # Seafloor depth:-1055.133156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.701155 meters looking forward 0.000000 meters along route # Maximum depth: 1055.701155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.701155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739511; longitude = -121.843420; captureRadius = 10; duration = 122; initialDepth = 1006.106248; finalDepth = 1005.701155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.701155 # Seafloor depth:-1055.701155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.106248 meters looking forward 0.000000 meters along route # Maximum depth: 1056.106248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.106248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.842766; captureRadius = 10; duration = 122; initialDepth = 1005.429058; finalDepth = 1006.106248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.106248 # Seafloor depth:-1056.106248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.429058 meters looking forward 0.000000 meters along route # Maximum depth: 1055.429058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.429058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.842104; captureRadius = 10; duration = 122; initialDepth = 1006.360989; finalDepth = 1005.429058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.429058 # Seafloor depth:-1055.429058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.360989 meters looking forward 0.000000 meters along route # Maximum depth: 1056.360989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.360989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.841442; captureRadius = 10; duration = 122; initialDepth = 1003.576574; finalDepth = 1006.360989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.360989 # Seafloor depth:-1056.360989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.576574 meters looking forward 0.000000 meters along route # Maximum depth: 1053.576574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.576574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.840780; captureRadius = 10; duration = 122; initialDepth = 1005.012904; finalDepth = 1003.576574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.576574 # Seafloor depth:-1053.576574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.012904 meters looking forward 0.000000 meters along route # Maximum depth: 1055.012904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.012904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743667; longitude = -121.840103; captureRadius = 10; duration = 122; initialDepth = 1006.090793; finalDepth = 1005.012904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.012904 # Seafloor depth:-1055.012904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.090793 meters looking forward 0.000000 meters along route # Maximum depth: 1056.090793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.090793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.839456; captureRadius = 10; duration = 122; initialDepth = 1009.022161; finalDepth = 1006.090793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.090793 # Seafloor depth:-1056.090793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.022161 meters looking forward 0.000000 meters along route # Maximum depth: 1059.022161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.022161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.838794; captureRadius = 10; duration = 122; initialDepth = 1004.885286; finalDepth = 1009.022161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.022161 # Seafloor depth:-1059.022161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.885286 meters looking forward 0.000000 meters along route # Maximum depth: 1054.885286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.885286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.838132; captureRadius = 10; duration = 122; initialDepth = 1005.108890; finalDepth = 1004.885286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.885286 # Seafloor depth:-1054.885286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.108890 meters looking forward 0.000000 meters along route # Maximum depth: 1055.108890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.108890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.837471; captureRadius = 10; duration = 122; initialDepth = 1009.199446; finalDepth = 1005.108890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.10889 # Seafloor depth:-1055.108890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.199446 meters looking forward 0.000000 meters along route # Maximum depth: 1059.199446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.199446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747822; longitude = -121.836786; captureRadius = 10; duration = 122; initialDepth = 1004.774864; finalDepth = 1009.199446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.199446 # Seafloor depth:-1059.199446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.774864 meters looking forward 0.000000 meters along route # Maximum depth: 1054.774864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.774864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.836147; captureRadius = 10; duration = 122; initialDepth = 1003.696248; finalDepth = 1004.774864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.774864 # Seafloor depth:-1054.774864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.696248 meters looking forward 0.000000 meters along route # Maximum depth: 1053.696248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.696248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.835485; captureRadius = 10; duration = 122; initialDepth = 1012.150603; finalDepth = 1003.696248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.696248 # Seafloor depth:-1053.696248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.150603 meters looking forward 0.000000 meters along route # Maximum depth: 1062.150603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.150603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.834823; captureRadius = 10; duration = 122; initialDepth = 1012.326323; finalDepth = 1012.150603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.150603 # Seafloor depth:-1062.150603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.326323 meters looking forward 0.000000 meters along route # Maximum depth: 1062.326323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.326323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.834161; captureRadius = 10; duration = 122; initialDepth = 1003.551685; finalDepth = 1012.326323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.326323 # Seafloor depth:-1062.326323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.551685 meters looking forward 0.000000 meters along route # Maximum depth: 1053.551685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.551685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751977; longitude = -121.833469; captureRadius = 10; duration = 122; initialDepth = 1004.547974; finalDepth = 1003.551685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.551685 # Seafloor depth:-1053.551685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.547974 meters looking forward 0.000000 meters along route # Maximum depth: 1054.547974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.547974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.832837; captureRadius = 10; duration = 122; initialDepth = 1006.466726; finalDepth = 1004.547974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.547974 # Seafloor depth:-1054.547974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.466726 meters looking forward 0.000000 meters along route # Maximum depth: 1056.466726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.466726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.832175; captureRadius = 10; duration = 122; initialDepth = 1005.579051; finalDepth = 1006.466726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.466726 # Seafloor depth:-1056.466726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.579051 meters looking forward 0.000000 meters along route # Maximum depth: 1055.579051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.579051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.831513; captureRadius = 10; duration = 122; initialDepth = 1004.862527; finalDepth = 1005.579051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.579051 # Seafloor depth:-1055.579051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.862527 meters looking forward 0.000000 meters along route # Maximum depth: 1054.862527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.862527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.830852; captureRadius = 10; duration = 122; initialDepth = 1006.588207; finalDepth = 1004.862527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.862527 # Seafloor depth:-1054.862527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.588207 meters looking forward 0.000000 meters along route # Maximum depth: 1056.588207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.588207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756133; longitude = -121.830152; captureRadius = 10; duration = 122; initialDepth = 1004.041500; finalDepth = 1006.588207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.588207 # Seafloor depth:-1056.588207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.041500 meters looking forward 0.000000 meters along route # Maximum depth: 1054.041500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.041500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.829528; captureRadius = 10; duration = 122; initialDepth = 1007.950334; finalDepth = 1004.041500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.0415 # Seafloor depth:-1054.041500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.950334 meters looking forward 0.000000 meters along route # Maximum depth: 1057.950334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.950334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.828866; captureRadius = 10; duration = 122; initialDepth = 1006.136069; finalDepth = 1007.950334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.950334 # Seafloor depth:-1057.950334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.136069 meters looking forward 0.000000 meters along route # Maximum depth: 1056.136069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.136069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.828204; captureRadius = 10; duration = 122; initialDepth = 1005.191379; finalDepth = 1006.136069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.136069 # Seafloor depth:-1056.136069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.191379 meters looking forward 0.000000 meters along route # Maximum depth: 1055.191379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.191379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.827542; captureRadius = 10; duration = 122; initialDepth = 1006.876540; finalDepth = 1005.191379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.191379 # Seafloor depth:-1055.191379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.876540 meters looking forward 0.000000 meters along route # Maximum depth: 1056.876540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.876540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760288; longitude = -121.826835; captureRadius = 10; duration = 122; initialDepth = 1002.396454; finalDepth = 1006.876540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.87654 # Seafloor depth:-1056.876540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.396454 meters looking forward 0.000000 meters along route # Maximum depth: 1052.396454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.396454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.826218; captureRadius = 10; duration = 122; initialDepth = 1004.034951; finalDepth = 1002.396454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.396454 # Seafloor depth:-1052.396454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.034951 meters looking forward 0.000000 meters along route # Maximum depth: 1054.034951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.034951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.825556; captureRadius = 10; duration = 122; initialDepth = 1010.660879; finalDepth = 1004.034951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.034951 # Seafloor depth:-1054.034951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1060.660879 meters looking forward 0.000000 meters along route # Maximum depth: 1060.660879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.660879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.824895; captureRadius = 10; duration = 122; initialDepth = 1012.054904; finalDepth = 1010.660879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.660879 # Seafloor depth:-1060.660879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1062.054904 meters looking forward 0.000000 meters along route # Maximum depth: 1062.054904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.054904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.824233; captureRadius = 10; duration = 122; initialDepth = 1004.242077; finalDepth = 1012.054904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.054904 # Seafloor depth:-1062.054904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.242077 meters looking forward 0.000000 meters along route # Maximum depth: 1054.242077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.242077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764443; longitude = -121.823519; captureRadius = 10; duration = 122; initialDepth = 1004.230287; finalDepth = 1004.242077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.242077 # Seafloor depth:-1054.242077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.230287 meters looking forward 0.000000 meters along route # Maximum depth: 1054.230287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.230287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.822909; captureRadius = 10; duration = 122; initialDepth = 1003.953591; finalDepth = 1004.230287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.230287 # Seafloor depth:-1054.230287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.953591 meters looking forward 0.000000 meters along route # Maximum depth: 1053.953591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.953591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.822247; captureRadius = 10; duration = 122; initialDepth = 1005.152370; finalDepth = 1003.953591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.953591 # Seafloor depth:-1053.953591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.152370 meters looking forward 0.000000 meters along route # Maximum depth: 1055.152370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.152370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766867; longitude = -121.821584; captureRadius = 10; duration = 122; initialDepth = 1001.496072; finalDepth = 1005.152370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.15237 # Seafloor depth:-1055.152370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.496072 meters looking forward 0.000000 meters along route # Maximum depth: 1051.496072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.496072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.820923; captureRadius = 10; duration = 122; initialDepth = 1006.414331; finalDepth = 1001.496072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.496072 # Seafloor depth:-1051.496072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.414331 meters looking forward 0.000000 meters along route # Maximum depth: 1056.414331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.414331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.820261; captureRadius = 10; duration = 122; initialDepth = 1002.017496; finalDepth = 1006.414331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.414331 # Seafloor depth:-1056.414331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.017496 meters looking forward 0.000000 meters along route # Maximum depth: 1052.017496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.017496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.819599; captureRadius = 10; duration = 122; initialDepth = 1003.951606; finalDepth = 1002.017496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.017496 # Seafloor depth:-1052.017496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.951606 meters looking forward 0.000000 meters along route # Maximum depth: 1053.951606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.951606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.818937; captureRadius = 10; duration = 122; initialDepth = 1003.948866; finalDepth = 1003.951606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.951606 # Seafloor depth:-1053.951606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.948866 meters looking forward 0.000000 meters along route # Maximum depth: 1053.948866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.948866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771022; longitude = -121.818267; captureRadius = 10; duration = 122; initialDepth = 1004.078802; finalDepth = 1003.948866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.948866 # Seafloor depth:-1053.948866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.078802 meters looking forward 0.000000 meters along route # Maximum depth: 1054.078802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.078802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.817614; captureRadius = 10; duration = 122; initialDepth = 1004.693954; finalDepth = 1004.078802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.078802 # Seafloor depth:-1054.078802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.693954 meters looking forward 0.000000 meters along route # Maximum depth: 1054.693954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.693954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.816952; captureRadius = 10; duration = 122; initialDepth = 1004.941279; finalDepth = 1004.693954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.693954 # Seafloor depth:-1054.693954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.941279 meters looking forward 0.000000 meters along route # Maximum depth: 1054.941279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.941279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.816290; captureRadius = 10; duration = 122; initialDepth = 1007.699209; finalDepth = 1004.941279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.941279 # Seafloor depth:-1054.941279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.699209 meters looking forward 0.000000 meters along route # Maximum depth: 1057.699209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.699209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.815628; captureRadius = 10; duration = 122; initialDepth = 1007.599655; finalDepth = 1007.699209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.699209 # Seafloor depth:-1057.699209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.599655 meters looking forward 0.000000 meters along route # Maximum depth: 1057.599655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.599655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775178; longitude = -121.814950; captureRadius = 10; duration = 122; initialDepth = 1005.988035; finalDepth = 1007.599655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.599655 # Seafloor depth:-1057.599655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.988035 meters looking forward 0.000000 meters along route # Maximum depth: 1055.988035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.988035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.814304; captureRadius = 10; duration = 122; initialDepth = 1007.023182; finalDepth = 1005.988035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.988035 # Seafloor depth:-1055.988035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.023182 meters looking forward 0.000000 meters along route # Maximum depth: 1057.023182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.023182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.813642; captureRadius = 10; duration = 122; initialDepth = 1004.818218; finalDepth = 1007.023182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.023182 # Seafloor depth:-1057.023182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.818218 meters looking forward 0.000000 meters along route # Maximum depth: 1054.818218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.818218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.812980; captureRadius = 10; duration = 122; initialDepth = 1000.195760; finalDepth = 1004.818218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.818218 # Seafloor depth:-1054.818218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.195760 meters looking forward 0.000000 meters along route # Maximum depth: 1050.195760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.195760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.812318; captureRadius = 10; duration = 122; initialDepth = 1003.070034; finalDepth = 1000.195760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.19576 # Seafloor depth:-1050.195760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.070034 meters looking forward 0.000000 meters along route # Maximum depth: 1053.070034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.070034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779333; longitude = -121.811633; captureRadius = 10; duration = 122; initialDepth = 1003.586751; finalDepth = 1003.070034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.070034 # Seafloor depth:-1053.070034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.586751 meters looking forward 0.000000 meters along route # Maximum depth: 1053.586751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.586751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.810995; captureRadius = 10; duration = 122; initialDepth = 1006.358613; finalDepth = 1003.586751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.586751 # Seafloor depth:-1053.586751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.358613 meters looking forward 0.000000 meters along route # Maximum depth: 1056.358613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.358613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.810333; captureRadius = 10; duration = 122; initialDepth = 1000.522290; finalDepth = 1006.358613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.358613 # Seafloor depth:-1056.358613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.522290 meters looking forward 0.000000 meters along route # Maximum depth: 1050.522290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.522290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.809671; captureRadius = 10; duration = 122; initialDepth = 1001.116167; finalDepth = 1000.522290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.52229 # Seafloor depth:-1050.522290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.116167 meters looking forward 0.000000 meters along route # Maximum depth: 1051.116167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.116167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.809009; captureRadius = 10; duration = 122; initialDepth = 999.851249; finalDepth = 1001.116167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.116167 # Seafloor depth:-1051.116167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.851249 meters looking forward 0.000000 meters along route # Maximum depth: 1049.851249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.851249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783488; longitude = -121.808316; captureRadius = 10; duration = 122; initialDepth = 998.528926; finalDepth = 999.851249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.851249 # Seafloor depth:-1049.851249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.528926 meters looking forward 0.000000 meters along route # Maximum depth: 1048.528926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.528926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.807685; captureRadius = 10; duration = 122; initialDepth = 998.815636; finalDepth = 998.528926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.528926 # Seafloor depth:-1048.528926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.815636 meters looking forward 0.000000 meters along route # Maximum depth: 1048.815636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.815636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.807023; captureRadius = 10; duration = 122; initialDepth = 998.846137; finalDepth = 998.815636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.815636 # Seafloor depth:-1048.815636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.846137 meters looking forward 0.000000 meters along route # Maximum depth: 1048.846137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.846137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.806361; captureRadius = 10; duration = 122; initialDepth = 996.976277; finalDepth = 998.846137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.846137 # Seafloor depth:-1048.846137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.976277 meters looking forward 0.000000 meters along route # Maximum depth: 1046.976277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.976277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.805700; captureRadius = 10; duration = 122; initialDepth = 994.961453; finalDepth = 996.976277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.976277 # Seafloor depth:-1046.976277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.961453 meters looking forward 0.000000 meters along route # Maximum depth: 1044.961453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.961453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787644; longitude = -121.805000; captureRadius = 10; duration = 122; initialDepth = 993.599515; finalDepth = 994.961453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.961453 # Seafloor depth:-1044.961453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.599515 meters looking forward 0.000000 meters along route # Maximum depth: 1043.599515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.599515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.804376; captureRadius = 10; duration = 122; initialDepth = 993.173307; finalDepth = 993.599515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.599515 # Seafloor depth:-1043.599515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.173307 meters looking forward 0.000000 meters along route # Maximum depth: 1043.173307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.173307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.803714; captureRadius = 10; duration = 122; initialDepth = 990.602832; finalDepth = 993.173307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.173307 # Seafloor depth:-1043.173307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1040.602832 meters looking forward 0.000000 meters along route # Maximum depth: 1040.602832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.602832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.803052; captureRadius = 10; duration = 122; initialDepth = 991.696279; finalDepth = 990.602832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.602832 # Seafloor depth:-1040.602832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1041.696279 meters looking forward 0.000000 meters along route # Maximum depth: 1041.696279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.696279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791106; longitude = -121.802235; captureRadius = 10; duration = 122; initialDepth = 997.080109; finalDepth = 991.696279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.696279 # Seafloor depth:-1041.696279 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1047.080109 meters looking forward 0.000000 meters along route # Maximum depth: 1047.080109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.080109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791925; longitude = -121.801582; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 993.437222; finalDepth = 997.080109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.080109 # Seafloor depth:-1047.080109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.437222 meters looking forward 0.000000 meters along route # Maximum depth: 1043.437222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.437222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791686; longitude = -121.801130; captureRadius = 10; duration = 122; initialDepth = 988.883270; finalDepth = 993.437222; 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:993.437222 # Seafloor depth:-1043.437222 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1038.883270 meters looking forward 0.000000 meters along route # Maximum depth: 1038.883270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.883270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791188; longitude = -121.800191; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 989.414396; finalDepth = 988.883270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.88327 # Seafloor depth:-1038.883270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1039.414396 meters looking forward 0.000000 meters along route # Maximum depth: 1039.414396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.414396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.800410; captureRadius = 10; duration = 122; initialDepth = 991.943676; finalDepth = 989.414396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.414396 # Seafloor depth:-1039.414396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1041.943676 meters looking forward 0.000000 meters along route # Maximum depth: 1041.943676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.943676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790011; longitude = -121.801130; captureRadius = 10; duration = 122; initialDepth = 997.378936; finalDepth = 991.943676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.943676 # Seafloor depth:-1041.943676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.378936 meters looking forward 0.000000 meters along route # Maximum depth: 1047.378936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.378936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.801734; captureRadius = 10; duration = 122; initialDepth = 993.354133; finalDepth = 997.378936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.378936 # Seafloor depth:-1047.378936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.354133 meters looking forward 0.000000 meters along route # Maximum depth: 1043.354133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.354133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.802396; captureRadius = 10; duration = 122; initialDepth = 992.522308; finalDepth = 993.354133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.354133 # Seafloor depth:-1043.354133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1042.522308 meters looking forward 0.000000 meters along route # Maximum depth: 1042.522308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.522308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787587; longitude = -121.803065; captureRadius = 10; duration = 122; initialDepth = 994.724643; finalDepth = 992.522308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.522308 # Seafloor depth:-1042.522308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.724643 meters looking forward 0.000000 meters along route # Maximum depth: 1044.724643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.724643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.803720; captureRadius = 10; duration = 122; initialDepth = 999.703264; finalDepth = 994.724643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.724643 # Seafloor depth:-1044.724643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.703264 meters looking forward 0.000000 meters along route # Maximum depth: 1049.703264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.703264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.804382; captureRadius = 10; duration = 122; initialDepth = 1000.334801; finalDepth = 999.703264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.703264 # Seafloor depth:-1049.703264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.334801 meters looking forward 0.000000 meters along route # Maximum depth: 1050.334801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.334801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.805044; captureRadius = 10; duration = 122; initialDepth = 999.463699; finalDepth = 1000.334801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.334801 # Seafloor depth:-1050.334801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.463699 meters looking forward 0.000000 meters along route # Maximum depth: 1049.463699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.463699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.805706; captureRadius = 10; duration = 122; initialDepth = 1002.490340; finalDepth = 999.463699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.463699 # Seafloor depth:-1049.463699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.490340 meters looking forward 0.000000 meters along route # Maximum depth: 1052.490340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.490340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783432; longitude = -121.806382; captureRadius = 10; duration = 122; initialDepth = 1001.567146; finalDepth = 1002.490340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.49034 # Seafloor depth:-1052.490340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.567146 meters looking forward 0.000000 meters along route # Maximum depth: 1051.567146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.567146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.807029; captureRadius = 10; duration = 122; initialDepth = 998.630667; finalDepth = 1001.567146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.567146 # Seafloor depth:-1051.567146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.630667 meters looking forward 0.000000 meters along route # Maximum depth: 1048.630667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.630667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.807691; captureRadius = 10; duration = 122; initialDepth = 1002.925893; finalDepth = 998.630667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.630667 # Seafloor depth:-1048.630667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.925893 meters looking forward 0.000000 meters along route # Maximum depth: 1052.925893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.925893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.808353; captureRadius = 10; duration = 122; initialDepth = 1002.010562; finalDepth = 1002.925893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.925893 # Seafloor depth:-1052.925893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.010562 meters looking forward 0.000000 meters along route # Maximum depth: 1052.010562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.010562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.809015; captureRadius = 10; duration = 122; initialDepth = 1001.532534; finalDepth = 1002.010562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.010562 # Seafloor depth:-1052.010562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.532534 meters looking forward 0.000000 meters along route # Maximum depth: 1051.532534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.532534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779277; longitude = -121.809698; captureRadius = 10; duration = 122; initialDepth = 1002.443133; finalDepth = 1001.532534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.532534 # Seafloor depth:-1051.532534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.443133 meters looking forward 0.000000 meters along route # Maximum depth: 1052.443133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.443133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.810339; captureRadius = 10; duration = 122; initialDepth = 999.240047; finalDepth = 1002.443133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.443133 # Seafloor depth:-1052.443133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.240047 meters looking forward 0.000000 meters along route # Maximum depth: 1049.240047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.240047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.811001; captureRadius = 10; duration = 122; initialDepth = 1002.696256; finalDepth = 999.240047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.240047 # Seafloor depth:-1049.240047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.696256 meters looking forward 0.000000 meters along route # Maximum depth: 1052.696256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.696256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.811663; captureRadius = 10; duration = 122; initialDepth = 1004.060957; finalDepth = 1002.696256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.696256 # Seafloor depth:-1052.696256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.060957 meters looking forward 0.000000 meters along route # Maximum depth: 1054.060957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.060957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.812325; captureRadius = 10; duration = 122; initialDepth = 1002.503676; finalDepth = 1004.060957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.060957 # Seafloor depth:-1054.060957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.503676 meters looking forward 0.000000 meters along route # Maximum depth: 1052.503676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.503676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775122; longitude = -121.813015; captureRadius = 10; duration = 122; initialDepth = 1002.739172; finalDepth = 1002.503676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.503676 # Seafloor depth:-1052.503676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.739172 meters looking forward 0.000000 meters along route # Maximum depth: 1052.739172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.739172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.813648; captureRadius = 10; duration = 122; initialDepth = 1003.601358; finalDepth = 1002.739172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.739172 # Seafloor depth:-1052.739172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.601358 meters looking forward 0.000000 meters along route # Maximum depth: 1053.601358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.601358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.814310; captureRadius = 10; duration = 122; initialDepth = 1002.935859; finalDepth = 1003.601358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.601358 # Seafloor depth:-1053.601358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.935859 meters looking forward 0.000000 meters along route # Maximum depth: 1052.935859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.935859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.814972; captureRadius = 10; duration = 122; initialDepth = 1003.225151; finalDepth = 1002.935859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.935859 # Seafloor depth:-1052.935859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.225151 meters looking forward 0.000000 meters along route # Maximum depth: 1053.225151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.225151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.815634; captureRadius = 10; duration = 122; initialDepth = 1004.110011; finalDepth = 1003.225151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.225151 # Seafloor depth:-1053.225151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.110011 meters looking forward 0.000000 meters along route # Maximum depth: 1054.110011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.110011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770966; longitude = -121.816332; captureRadius = 10; duration = 122; initialDepth = 1002.435859; finalDepth = 1004.110011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.110011 # Seafloor depth:-1054.110011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.435859 meters looking forward 0.000000 meters along route # Maximum depth: 1052.435859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.435859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.816958; captureRadius = 10; duration = 122; initialDepth = 1003.719583; finalDepth = 1002.435859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.435859 # Seafloor depth:-1052.435859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.719583 meters looking forward 0.000000 meters along route # Maximum depth: 1053.719583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.719583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.817620; captureRadius = 10; duration = 122; initialDepth = 1003.524541; finalDepth = 1003.719583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.719583 # Seafloor depth:-1053.719583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.524541 meters looking forward 0.000000 meters along route # Maximum depth: 1053.524541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.524541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.818282; captureRadius = 10; duration = 122; initialDepth = 1002.442926; finalDepth = 1003.524541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.524541 # Seafloor depth:-1053.524541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.442926 meters looking forward 0.000000 meters along route # Maximum depth: 1052.442926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.442926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.818944; captureRadius = 10; duration = 122; initialDepth = 1000.870914; finalDepth = 1002.442926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.442926 # Seafloor depth:-1052.442926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.870914 meters looking forward 0.000000 meters along route # Maximum depth: 1050.870914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.870914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766811; longitude = -121.819649; captureRadius = 10; duration = 122; initialDepth = 1002.473767; finalDepth = 1000.870914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.870914 # Seafloor depth:-1050.870914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.473767 meters looking forward 0.000000 meters along route # Maximum depth: 1052.473767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.473767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.820268; captureRadius = 10; duration = 122; initialDepth = 1004.550703; finalDepth = 1002.473767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.473767 # Seafloor depth:-1052.473767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.550703 meters looking forward 0.000000 meters along route # Maximum depth: 1054.550703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.550703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.820929; captureRadius = 10; duration = 122; initialDepth = 1000.998018; finalDepth = 1004.550703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.550703 # Seafloor depth:-1054.550703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.998018 meters looking forward 0.000000 meters along route # Maximum depth: 1050.998018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.998018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.821591; captureRadius = 10; duration = 122; initialDepth = 1002.827677; finalDepth = 1000.998018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.998018 # Seafloor depth:-1050.998018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.827677 meters looking forward 0.000000 meters along route # Maximum depth: 1052.827677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.827677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.822253; captureRadius = 10; duration = 122; initialDepth = 1007.927649; finalDepth = 1002.827677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.827677 # Seafloor depth:-1052.827677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.927649 meters looking forward 0.000000 meters along route # Maximum depth: 1057.927649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.927649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762656; longitude = -121.822966; captureRadius = 10; duration = 122; initialDepth = 1006.811578; finalDepth = 1007.927649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.927649 # Seafloor depth:-1057.927649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.811578 meters looking forward 0.000000 meters along route # Maximum depth: 1056.811578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.811578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.823577; captureRadius = 10; duration = 122; initialDepth = 1001.171178; finalDepth = 1006.811578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.811578 # Seafloor depth:-1056.811578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.171178 meters looking forward 0.000000 meters along route # Maximum depth: 1051.171178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.171178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.824239; captureRadius = 10; duration = 122; initialDepth = 1005.403169; finalDepth = 1001.171178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.171178 # Seafloor depth:-1051.171178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.403169 meters looking forward 0.000000 meters along route # Maximum depth: 1055.403169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.403169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.824901; captureRadius = 10; duration = 122; initialDepth = 1002.467429; finalDepth = 1005.403169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.403169 # Seafloor depth:-1055.403169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.467429 meters looking forward 0.000000 meters along route # Maximum depth: 1052.467429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.467429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.825563; captureRadius = 10; duration = 122; initialDepth = 1001.173392; finalDepth = 1002.467429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.467429 # Seafloor depth:-1052.467429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.173392 meters looking forward 0.000000 meters along route # Maximum depth: 1051.173392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.173392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758501; longitude = -121.826283; captureRadius = 10; duration = 122; initialDepth = 1002.108443; finalDepth = 1001.173392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.173392 # Seafloor depth:-1051.173392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.108443 meters looking forward 0.000000 meters along route # Maximum depth: 1052.108443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.108443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.826887; captureRadius = 10; duration = 122; initialDepth = 1001.094293; finalDepth = 1002.108443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.108443 # Seafloor depth:-1052.108443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.094293 meters looking forward 0.000000 meters along route # Maximum depth: 1051.094293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.094293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.827549; captureRadius = 10; duration = 122; initialDepth = 1004.370783; finalDepth = 1001.094293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.094293 # Seafloor depth:-1051.094293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.370783 meters looking forward 0.000000 meters along route # Maximum depth: 1054.370783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.370783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756077; longitude = -121.828217; captureRadius = 10; duration = 122; initialDepth = 1002.790414; finalDepth = 1004.370783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.370783 # Seafloor depth:-1054.370783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.790414 meters looking forward 0.000000 meters along route # Maximum depth: 1052.790414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.790414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.828872; captureRadius = 10; duration = 122; initialDepth = 1001.855277; finalDepth = 1002.790414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.790414 # Seafloor depth:-1052.790414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.855277 meters looking forward 0.000000 meters along route # Maximum depth: 1051.855277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.855277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.829534; captureRadius = 10; duration = 122; initialDepth = 1000.477186; finalDepth = 1001.855277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.855277 # Seafloor depth:-1051.855277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.477186 meters looking forward 0.000000 meters along route # Maximum depth: 1050.477186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.477186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.830196; captureRadius = 10; duration = 122; initialDepth = 1000.481864; finalDepth = 1000.477186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.477186 # Seafloor depth:-1050.477186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.481864 meters looking forward 0.000000 meters along route # Maximum depth: 1050.481864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.481864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.830858; captureRadius = 10; duration = 122; initialDepth = 1002.594971; finalDepth = 1000.481864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.481864 # Seafloor depth:-1050.481864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.594971 meters looking forward 0.000000 meters along route # Maximum depth: 1052.594971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.594971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751922; longitude = -121.831534; captureRadius = 10; duration = 122; initialDepth = 1002.596198; finalDepth = 1002.594971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.594971 # Seafloor depth:-1052.594971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.596198 meters looking forward 0.000000 meters along route # Maximum depth: 1052.596198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.596198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.832182; captureRadius = 10; duration = 122; initialDepth = 1011.951434; finalDepth = 1002.596198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.596198 # Seafloor depth:-1052.596198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.951434 meters looking forward 0.000000 meters along route # Maximum depth: 1061.951434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.951434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.832844; captureRadius = 10; duration = 122; initialDepth = 1002.756250; finalDepth = 1011.951434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.951434 # Seafloor depth:-1061.951434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.756250 meters looking forward 0.000000 meters along route # Maximum depth: 1052.756250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.756250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.833506; captureRadius = 10; duration = 122; initialDepth = 999.253943; finalDepth = 1002.756250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.75625 # Seafloor depth:-1052.756250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.253943 meters looking forward 0.000000 meters along route # Maximum depth: 1049.253943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.253943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.834168; captureRadius = 10; duration = 122; initialDepth = 1005.174701; finalDepth = 999.253943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.253943 # Seafloor depth:-1049.253943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.174701 meters looking forward 0.000000 meters along route # Maximum depth: 1055.174701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.174701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747767; longitude = -121.834851; captureRadius = 10; duration = 122; initialDepth = 1008.782882; finalDepth = 1005.174701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.174701 # Seafloor depth:-1055.174701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.782882 meters looking forward 0.000000 meters along route # Maximum depth: 1058.782882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.782882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.835491; captureRadius = 10; duration = 122; initialDepth = 1003.211530; finalDepth = 1008.782882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.782882 # Seafloor depth:-1058.782882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.211530 meters looking forward 0.000000 meters along route # Maximum depth: 1053.211530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.211530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.836153; captureRadius = 10; duration = 122; initialDepth = 1003.907112; finalDepth = 1003.211530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.21153 # Seafloor depth:-1053.211530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.907112 meters looking forward 0.000000 meters along route # Maximum depth: 1053.907112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.907112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.836815; captureRadius = 10; duration = 122; initialDepth = 1003.503362; finalDepth = 1003.907112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.907112 # Seafloor depth:-1053.907112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.503362 meters looking forward 0.000000 meters along route # Maximum depth: 1053.503362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.503362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.837477; captureRadius = 10; duration = 122; initialDepth = 1008.648208; finalDepth = 1003.503362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.503362 # Seafloor depth:-1053.503362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.648208 meters looking forward 0.000000 meters along route # Maximum depth: 1058.648208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.648208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743611; longitude = -121.838168; captureRadius = 10; duration = 122; initialDepth = 1005.404266; finalDepth = 1008.648208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.648208 # Seafloor depth:-1058.648208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.404266 meters looking forward 0.000000 meters along route # Maximum depth: 1055.404266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.404266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.838801; captureRadius = 10; duration = 122; initialDepth = 1007.415307; finalDepth = 1005.404266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.404266 # Seafloor depth:-1055.404266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.415307 meters looking forward 0.000000 meters along route # Maximum depth: 1057.415307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.415307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.839463; captureRadius = 10; duration = 122; initialDepth = 1005.218760; finalDepth = 1007.415307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.415307 # Seafloor depth:-1057.415307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.218760 meters looking forward 0.000000 meters along route # Maximum depth: 1055.218760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.218760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.840125; captureRadius = 10; duration = 122; initialDepth = 1005.124143; finalDepth = 1005.218760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.21876 # Seafloor depth:-1055.218760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.124143 meters looking forward 0.000000 meters along route # Maximum depth: 1055.124143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.124143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.840787; captureRadius = 10; duration = 122; initialDepth = 1000.287466; finalDepth = 1005.124143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.124143 # Seafloor depth:-1055.124143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.287466 meters looking forward 0.000000 meters along route # Maximum depth: 1050.287466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.287466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739456; longitude = -121.841485; captureRadius = 10; duration = 122; initialDepth = 1003.713054; finalDepth = 1000.287466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.287466 # Seafloor depth:-1050.287466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.713054 meters looking forward 0.000000 meters along route # Maximum depth: 1053.713054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.713054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.842111; captureRadius = 10; duration = 122; initialDepth = 1004.075145; finalDepth = 1003.713054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.713054 # Seafloor depth:-1053.713054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.075145 meters looking forward 0.000000 meters along route # Maximum depth: 1054.075145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.075145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.842772; captureRadius = 10; duration = 122; initialDepth = 1006.101614; finalDepth = 1004.075145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.075145 # Seafloor depth:-1054.075145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.101614 meters looking forward 0.000000 meters along route # Maximum depth: 1056.101614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.101614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.843434; captureRadius = 10; duration = 122; initialDepth = 1004.426554; finalDepth = 1006.101614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.101614 # Seafloor depth:-1056.101614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.426554 meters looking forward 0.000000 meters along route # Maximum depth: 1054.426554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.426554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736185; longitude = -121.844096; captureRadius = 10; duration = 122; initialDepth = 1004.187134; finalDepth = 1004.426554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.426554 # Seafloor depth:-1054.426554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.187134 meters looking forward 0.000000 meters along route # Maximum depth: 1054.187134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.187134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735301; longitude = -121.844802; captureRadius = 10; duration = 122; initialDepth = 1009.159514; finalDepth = 1004.187134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.187134 # Seafloor depth:-1054.187134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.159514 meters looking forward 0.000000 meters along route # Maximum depth: 1059.159514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.159514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.845420; captureRadius = 10; duration = 122; initialDepth = 1009.410802; finalDepth = 1009.159514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.159514 # Seafloor depth:-1059.159514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1059.410802 meters looking forward 0.000000 meters along route # Maximum depth: 1059.410802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.410802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.846082; captureRadius = 10; duration = 122; initialDepth = 1007.079944; finalDepth = 1009.410802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.410802 # Seafloor depth:-1059.410802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1057.079944 meters looking forward 0.000000 meters along route # Maximum depth: 1057.079944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.079944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.846744; captureRadius = 10; duration = 122; initialDepth = 1011.684949; finalDepth = 1007.079944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.079944 # Seafloor depth:-1057.079944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1061.684949 meters looking forward 0.000000 meters along route # Maximum depth: 1061.684949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.684949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.847406; captureRadius = 10; duration = 122; initialDepth = 1006.062586; finalDepth = 1011.684949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.684949 # Seafloor depth:-1061.684949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.062586 meters looking forward 0.000000 meters along route # Maximum depth: 1056.062586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.062586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731146; longitude = -121.848119; captureRadius = 10; duration = 122; initialDepth = 1003.362876; finalDepth = 1006.062586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.062586 # Seafloor depth:-1056.062586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.362876 meters looking forward 0.000000 meters along route # Maximum depth: 1053.362876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.362876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.848730; captureRadius = 10; duration = 122; initialDepth = 1005.090759; finalDepth = 1003.362876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.362876 # Seafloor depth:-1053.362876 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1055.090759 meters looking forward 0.000000 meters along route # Maximum depth: 1055.090759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.090759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729551; longitude = -121.849392; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1003.733369; finalDepth = 1005.090759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.090759 # Seafloor depth:-1055.090759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.733369 meters looking forward 0.000000 meters along route # Maximum depth: 1053.733369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.733369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729315; longitude = -121.848948; captureRadius = 10; duration = 122; initialDepth = 1002.108917; finalDepth = 1003.733369; 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:1003.733369 # Seafloor depth:-1053.733369 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1052.108917 meters looking forward 0.000000 meters along route # Maximum depth: 1052.108917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.108917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728814; longitude = -121.848001; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1002.377866; finalDepth = 1002.108917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.108917 # Seafloor depth:-1052.108917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.377866 meters looking forward 0.000000 meters along route # Maximum depth: 1052.377866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.377866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729013; longitude = -121.847842; captureRadius = 10; duration = 122; initialDepth = 1003.032800; finalDepth = 1002.377866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.377866 # Seafloor depth:-1052.377866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.032800 meters looking forward 0.000000 meters along route # Maximum depth: 1053.032800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.032800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.847192; captureRadius = 10; duration = 122; initialDepth = 1003.175085; finalDepth = 1003.032800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.0328 # Seafloor depth:-1053.032800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.175085 meters looking forward 0.000000 meters along route # Maximum depth: 1053.175085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.175085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.846530; captureRadius = 10; duration = 122; initialDepth = 1003.472525; finalDepth = 1003.175085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.175085 # Seafloor depth:-1053.175085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.472525 meters looking forward 0.000000 meters along route # Maximum depth: 1053.472525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.472525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.845868; captureRadius = 10; duration = 122; initialDepth = 1005.779541; finalDepth = 1003.472525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.472525 # Seafloor depth:-1053.472525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.779541 meters looking forward 0.000000 meters along route # Maximum depth: 1055.779541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.779541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.845206; captureRadius = 10; duration = 122; initialDepth = 1003.125402; finalDepth = 1005.779541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.779541 # Seafloor depth:-1055.779541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.125402 meters looking forward 0.000000 meters along route # Maximum depth: 1053.125402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.125402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733168; longitude = -121.844525; captureRadius = 10; duration = 122; initialDepth = 1005.691219; finalDepth = 1003.125402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.125402 # Seafloor depth:-1053.125402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1055.691219 meters looking forward 0.000000 meters along route # Maximum depth: 1055.691219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.691219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.843883; captureRadius = 10; duration = 122; initialDepth = 1003.021757; finalDepth = 1005.691219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.691219 # Seafloor depth:-1055.691219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.021757 meters looking forward 0.000000 meters along route # Maximum depth: 1053.021757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.021757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.843221; captureRadius = 10; duration = 122; initialDepth = 1004.653739; finalDepth = 1003.021757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.021757 # Seafloor depth:-1053.021757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.653739 meters looking forward 0.000000 meters along route # Maximum depth: 1054.653739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.653739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.842559; captureRadius = 10; duration = 122; initialDepth = 1002.797772; finalDepth = 1004.653739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.653739 # Seafloor depth:-1054.653739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.797772 meters looking forward 0.000000 meters along route # Maximum depth: 1052.797772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.797772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.841897; captureRadius = 10; duration = 122; initialDepth = 1001.498403; finalDepth = 1002.797772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.797772 # Seafloor depth:-1052.797772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.498403 meters looking forward 0.000000 meters along route # Maximum depth: 1051.498403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.498403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737323; longitude = -121.841208; captureRadius = 10; duration = 122; initialDepth = 1003.736830; finalDepth = 1001.498403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.498403 # Seafloor depth:-1051.498403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.736830 meters looking forward 0.000000 meters along route # Maximum depth: 1053.736830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.736830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.840573; captureRadius = 10; duration = 122; initialDepth = 1002.436488; finalDepth = 1003.736830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.73683 # Seafloor depth:-1053.736830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.436488 meters looking forward 0.000000 meters along route # Maximum depth: 1052.436488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.436488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.839911; captureRadius = 10; duration = 122; initialDepth = 1001.851550; finalDepth = 1002.436488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.436488 # Seafloor depth:-1052.436488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.851550 meters looking forward 0.000000 meters along route # Maximum depth: 1051.851550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.851550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.839249; captureRadius = 10; duration = 122; initialDepth = 1001.534709; finalDepth = 1001.851550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.85155 # Seafloor depth:-1051.851550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.534709 meters looking forward 0.000000 meters along route # Maximum depth: 1051.534709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.534709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.838587; captureRadius = 10; duration = 122; initialDepth = 1000.684001; finalDepth = 1001.534709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.534709 # Seafloor depth:-1051.534709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.684001 meters looking forward 0.000000 meters along route # Maximum depth: 1050.684001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.684001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741478; longitude = -121.837892; captureRadius = 10; duration = 122; initialDepth = 1004.456304; finalDepth = 1000.684001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.684001 # Seafloor depth:-1050.684001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.456304 meters looking forward 0.000000 meters along route # Maximum depth: 1054.456304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.456304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.837263; captureRadius = 10; duration = 122; initialDepth = 1003.267770; finalDepth = 1004.456304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.456304 # Seafloor depth:-1054.456304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.267770 meters looking forward 0.000000 meters along route # Maximum depth: 1053.267770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.267770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.836601; captureRadius = 10; duration = 122; initialDepth = 1000.682618; finalDepth = 1003.267770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.26777 # Seafloor depth:-1053.267770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.682618 meters looking forward 0.000000 meters along route # Maximum depth: 1050.682618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.682618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.835939; captureRadius = 10; duration = 122; initialDepth = 999.993836; finalDepth = 1000.682618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.682618 # Seafloor depth:-1050.682618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.993836 meters looking forward 0.000000 meters along route # Maximum depth: 1049.993836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.993836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.835277; captureRadius = 10; duration = 122; initialDepth = 999.005613; finalDepth = 999.993836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.993836 # Seafloor depth:-1049.993836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.005613 meters looking forward 0.000000 meters along route # Maximum depth: 1049.005613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.005613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745634; longitude = -121.834575; captureRadius = 10; duration = 122; initialDepth = 1002.252301; finalDepth = 999.005613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.005613 # Seafloor depth:-1049.005613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.252301 meters looking forward 0.000000 meters along route # Maximum depth: 1052.252301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.252301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.833954; captureRadius = 10; duration = 122; initialDepth = 1004.375737; finalDepth = 1002.252301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.252301 # Seafloor depth:-1052.252301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.375737 meters looking forward 0.000000 meters along route # Maximum depth: 1054.375737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.375737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.833292; captureRadius = 10; duration = 122; initialDepth = 997.411052; finalDepth = 1004.375737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.375737 # Seafloor depth:-1054.375737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.411052 meters looking forward 0.000000 meters along route # Maximum depth: 1047.411052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.411052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.832630; captureRadius = 10; duration = 122; initialDepth = 997.655578; finalDepth = 997.411052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.411052 # Seafloor depth:-1047.411052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.655578 meters looking forward 0.000000 meters along route # Maximum depth: 1047.655578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.655578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.831968; captureRadius = 10; duration = 122; initialDepth = 1008.805227; finalDepth = 997.655578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.655578 # Seafloor depth:-1047.655578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.805227 meters looking forward 0.000000 meters along route # Maximum depth: 1058.805227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.805227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749789; longitude = -121.831258; captureRadius = 10; duration = 122; initialDepth = 1006.062538; finalDepth = 1008.805227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.805227 # Seafloor depth:-1058.805227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1056.062538 meters looking forward 0.000000 meters along route # Maximum depth: 1056.062538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.062538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.830644; captureRadius = 10; duration = 122; initialDepth = 997.098982; finalDepth = 1006.062538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.062538 # Seafloor depth:-1056.062538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.098982 meters looking forward 0.000000 meters along route # Maximum depth: 1047.098982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.098982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.829982; captureRadius = 10; duration = 122; initialDepth = 998.305027; finalDepth = 997.098982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.098982 # Seafloor depth:-1047.098982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.305027 meters looking forward 0.000000 meters along route # Maximum depth: 1048.305027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.305027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.829320; captureRadius = 10; duration = 122; initialDepth = 999.388290; finalDepth = 998.305027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.305027 # Seafloor depth:-1048.305027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.388290 meters looking forward 0.000000 meters along route # Maximum depth: 1049.388290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.388290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.828658; captureRadius = 10; duration = 122; initialDepth = 999.551546; finalDepth = 999.388290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.38829 # Seafloor depth:-1049.388290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.551546 meters looking forward 0.000000 meters along route # Maximum depth: 1049.551546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.551546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753944; longitude = -121.827941; captureRadius = 10; duration = 122; initialDepth = 999.676432; finalDepth = 999.551546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.551546 # Seafloor depth:-1049.551546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.676432 meters looking forward 0.000000 meters along route # Maximum depth: 1049.676432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.676432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.827334; captureRadius = 10; duration = 122; initialDepth = 1004.164531; finalDepth = 999.676432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.676432 # Seafloor depth:-1049.676432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.164531 meters looking forward 0.000000 meters along route # Maximum depth: 1054.164531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.164531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.826672; captureRadius = 10; duration = 122; initialDepth = 1000.348680; finalDepth = 1004.164531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.164531 # Seafloor depth:-1054.164531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.348680 meters looking forward 0.000000 meters along route # Maximum depth: 1050.348680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.348680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756368; longitude = -121.826006; captureRadius = 10; duration = 122; initialDepth = 1000.381355; finalDepth = 1000.348680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.34868 # Seafloor depth:-1050.348680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.381355 meters looking forward 0.000000 meters along route # Maximum depth: 1050.381355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.381355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.825349; captureRadius = 10; duration = 122; initialDepth = 998.779936; finalDepth = 1000.381355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.381355 # Seafloor depth:-1050.381355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.779936 meters looking forward 0.000000 meters along route # Maximum depth: 1048.779936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.779936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.824687; captureRadius = 10; duration = 122; initialDepth = 1001.107187; finalDepth = 998.779936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.779936 # Seafloor depth:-1048.779936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.107187 meters looking forward 0.000000 meters along route # Maximum depth: 1051.107187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.107187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.824025; captureRadius = 10; duration = 122; initialDepth = 998.621164; finalDepth = 1001.107187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.107187 # Seafloor depth:-1051.107187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.621164 meters looking forward 0.000000 meters along route # Maximum depth: 1048.621164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.621164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.823363; captureRadius = 10; duration = 122; initialDepth = 1008.625028; finalDepth = 998.621164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.621164 # Seafloor depth:-1048.621164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1058.625028 meters looking forward 0.000000 meters along route # Maximum depth: 1058.625028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.625028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760523; longitude = -121.822689; captureRadius = 10; duration = 122; initialDepth = 1003.547890; finalDepth = 1008.625028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.625028 # Seafloor depth:-1058.625028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.547890 meters looking forward 0.000000 meters along route # Maximum depth: 1053.547890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.547890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.822039; captureRadius = 10; duration = 122; initialDepth = 1002.789195; finalDepth = 1003.547890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.54789 # Seafloor depth:-1053.547890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.789195 meters looking forward 0.000000 meters along route # Maximum depth: 1052.789195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.789195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.821377; captureRadius = 10; duration = 122; initialDepth = 1000.196966; finalDepth = 1002.789195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.789195 # Seafloor depth:-1052.789195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.196966 meters looking forward 0.000000 meters along route # Maximum depth: 1050.196966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.196966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.820715; captureRadius = 10; duration = 122; initialDepth = 1001.403216; finalDepth = 1000.196966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.196966 # Seafloor depth:-1050.196966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.403216 meters looking forward 0.000000 meters along route # Maximum depth: 1051.403216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.403216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.820053; captureRadius = 10; duration = 122; initialDepth = 998.652790; finalDepth = 1001.403216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.403216 # Seafloor depth:-1051.403216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.652790 meters looking forward 0.000000 meters along route # Maximum depth: 1048.652790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.652790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764678; longitude = -121.819373; captureRadius = 10; duration = 122; initialDepth = 1000.189123; finalDepth = 998.652790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.65279 # Seafloor depth:-1048.652790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.189123 meters looking forward 0.000000 meters along route # Maximum depth: 1050.189123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.189123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.818729; captureRadius = 10; duration = 122; initialDepth = 1001.781271; finalDepth = 1000.189123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.189123 # Seafloor depth:-1050.189123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.781271 meters looking forward 0.000000 meters along route # Maximum depth: 1051.781271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.781271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.818067; captureRadius = 10; duration = 122; initialDepth = 997.491556; finalDepth = 1001.781271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.781271 # Seafloor depth:-1051.781271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.491556 meters looking forward 0.000000 meters along route # Maximum depth: 1047.491556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.491556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.817406; captureRadius = 10; duration = 122; initialDepth = 1001.928154; finalDepth = 997.491556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.491556 # Seafloor depth:-1047.491556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.928154 meters looking forward 0.000000 meters along route # Maximum depth: 1051.928154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.928154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.816744; captureRadius = 10; duration = 122; initialDepth = 1001.264493; finalDepth = 1001.928154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.928154 # Seafloor depth:-1051.928154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.264493 meters looking forward 0.000000 meters along route # Maximum depth: 1051.264493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.264493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768833; longitude = -121.816056; captureRadius = 10; duration = 122; initialDepth = 1004.232642; finalDepth = 1001.264493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.264493 # Seafloor depth:-1051.264493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.232642 meters looking forward 0.000000 meters along route # Maximum depth: 1054.232642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.232642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.815420; captureRadius = 10; duration = 122; initialDepth = 1003.044100; finalDepth = 1004.232642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.232642 # Seafloor depth:-1054.232642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.044100 meters looking forward 0.000000 meters along route # Maximum depth: 1053.044100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.044100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.814758; captureRadius = 10; duration = 122; initialDepth = 999.931119; finalDepth = 1003.044100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.0441 # Seafloor depth:-1053.044100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.931119 meters looking forward 0.000000 meters along route # Maximum depth: 1049.931119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.931119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.814096; captureRadius = 10; duration = 122; initialDepth = 1001.553484; finalDepth = 999.931119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.931119 # Seafloor depth:-1049.931119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.553484 meters looking forward 0.000000 meters along route # Maximum depth: 1051.553484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.553484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.813434; captureRadius = 10; duration = 122; initialDepth = 1000.483717; finalDepth = 1001.553484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.553484 # Seafloor depth:-1051.553484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.483717 meters looking forward 0.000000 meters along route # Maximum depth: 1050.483717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.483717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772988; longitude = -121.812739; captureRadius = 10; duration = 122; initialDepth = 1001.873237; finalDepth = 1000.483717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.483717 # Seafloor depth:-1050.483717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.873237 meters looking forward 0.000000 meters along route # Maximum depth: 1051.873237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.873237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.812110; captureRadius = 10; duration = 122; initialDepth = 1001.347477; finalDepth = 1001.873237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.873237 # Seafloor depth:-1051.873237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.347477 meters looking forward 0.000000 meters along route # Maximum depth: 1051.347477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.347477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.811448; captureRadius = 10; duration = 122; initialDepth = 1002.876641; finalDepth = 1001.347477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.347477 # Seafloor depth:-1051.347477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.876641 meters looking forward 0.000000 meters along route # Maximum depth: 1052.876641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.876641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.810786; captureRadius = 10; duration = 122; initialDepth = 998.464430; finalDepth = 1002.876641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.876641 # Seafloor depth:-1052.876641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.464430 meters looking forward 0.000000 meters along route # Maximum depth: 1048.464430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.464430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.810124; captureRadius = 10; duration = 122; initialDepth = 997.567733; finalDepth = 998.464430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.46443 # Seafloor depth:-1048.464430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.567733 meters looking forward 0.000000 meters along route # Maximum depth: 1047.567733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.567733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777143; longitude = -121.809422; captureRadius = 10; duration = 122; initialDepth = 996.401171; finalDepth = 997.567733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.567733 # Seafloor depth:-1047.567733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.401171 meters looking forward 0.000000 meters along route # Maximum depth: 1046.401171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.401171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.808801; captureRadius = 10; duration = 122; initialDepth = 998.926551; finalDepth = 996.401171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.401171 # Seafloor depth:-1046.401171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.926551 meters looking forward 0.000000 meters along route # Maximum depth: 1048.926551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.926551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.808139; captureRadius = 10; duration = 122; initialDepth = 1002.064920; finalDepth = 998.926551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.926551 # Seafloor depth:-1048.926551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.064920 meters looking forward 0.000000 meters along route # Maximum depth: 1052.064920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.064920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.807477; captureRadius = 10; duration = 122; initialDepth = 997.920799; finalDepth = 1002.064920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.06492 # Seafloor depth:-1052.064920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.920799 meters looking forward 0.000000 meters along route # Maximum depth: 1047.920799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.920799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.806815; captureRadius = 10; duration = 122; initialDepth = 994.352023; finalDepth = 997.920799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.920799 # Seafloor depth:-1047.920799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.352023 meters looking forward 0.000000 meters along route # Maximum depth: 1044.352023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.352023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781298; longitude = -121.806105; captureRadius = 10; duration = 122; initialDepth = 998.049480; finalDepth = 994.352023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.352023 # Seafloor depth:-1044.352023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.049480 meters looking forward 0.000000 meters along route # Maximum depth: 1048.049480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.049480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.805491; captureRadius = 10; duration = 122; initialDepth = 997.480794; finalDepth = 998.049480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.04948 # Seafloor depth:-1048.049480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.480794 meters looking forward 0.000000 meters along route # Maximum depth: 1047.480794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.480794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.804829; captureRadius = 10; duration = 122; initialDepth = 996.520545; finalDepth = 997.480794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.480794 # Seafloor depth:-1047.480794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.520545 meters looking forward 0.000000 meters along route # Maximum depth: 1046.520545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.520545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.804167; captureRadius = 10; duration = 122; initialDepth = 993.733060; finalDepth = 996.520545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.520545 # Seafloor depth:-1046.520545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.733060 meters looking forward 0.000000 meters along route # Maximum depth: 1043.733060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.733060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.803505; captureRadius = 10; duration = 122; initialDepth = 991.876442; finalDepth = 993.733060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.73306 # Seafloor depth:-1043.733060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1041.876442 meters looking forward 0.000000 meters along route # Maximum depth: 1041.876442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.876442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785453; longitude = -121.802788; captureRadius = 10; duration = 122; initialDepth = 994.700118; finalDepth = 991.876442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.876442 # Seafloor depth:-1041.876442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.700118 meters looking forward 0.000000 meters along route # Maximum depth: 1044.700118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.700118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.802181; captureRadius = 10; duration = 122; initialDepth = 990.665233; finalDepth = 994.700118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.700118 # Seafloor depth:-1044.700118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1040.665233 meters looking forward 0.000000 meters along route # Maximum depth: 1040.665233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.665233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.801519; captureRadius = 10; duration = 122; initialDepth = 989.834749; finalDepth = 990.665233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.665233 # Seafloor depth:-1040.665233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1039.834749 meters looking forward 0.000000 meters along route # Maximum depth: 1039.834749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.834749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787877; longitude = -121.800853; captureRadius = 10; duration = 122; initialDepth = 990.523571; finalDepth = 989.834749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.834749 # Seafloor depth:-1039.834749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1040.523571 meters looking forward 0.000000 meters along route # Maximum depth: 1040.523571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.523571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.800196; captureRadius = 10; duration = 122; initialDepth = 988.891574; finalDepth = 990.523571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.523571 # Seafloor depth:-1040.523571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1038.891574 meters looking forward 0.000000 meters along route # Maximum depth: 1038.891574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.891574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789608; longitude = -121.799471; captureRadius = 10; duration = 122; initialDepth = 990.146973; finalDepth = 988.891574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.891574 # Seafloor depth:-1038.891574 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1040.146973 meters looking forward 0.000000 meters along route # Maximum depth: 1040.146973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.146973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790450; longitude = -121.798800; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 992.504403; finalDepth = 990.146973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.146973 # Seafloor depth:-1040.146973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1042.504403 meters looking forward 0.000000 meters along route # Maximum depth: 1042.504403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.504403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790230; longitude = -121.798366; captureRadius = 10; duration = 122; initialDepth = 993.879150; finalDepth = 992.504403; 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:992.504403 # Seafloor depth:-1042.504403 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 122.767258 meters # Minimum depth: 1043.879150 meters looking forward 0.000000 meters along route # Maximum depth: 1043.879150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.879150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789715; longitude = -121.797352; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 991.598676; finalDepth = 993.879150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.87915 # Seafloor depth:-1043.879150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1041.598676 meters looking forward 0.000000 meters along route # Maximum depth: 1041.598676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.598676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789484; longitude = -121.797537; captureRadius = 10; duration = 122; initialDepth = 986.293010; finalDepth = 991.598676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.598676 # Seafloor depth:-1041.598676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1036.293010 meters looking forward 0.000000 meters along route # Maximum depth: 1036.293010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.293010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.798162; captureRadius = 10; duration = 122; initialDepth = 985.632017; finalDepth = 986.293010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.29301 # Seafloor depth:-1036.293010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1035.632017 meters looking forward 0.000000 meters along route # Maximum depth: 1035.632017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.632017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.798825; captureRadius = 10; duration = 122; initialDepth = 989.634512; finalDepth = 985.632017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.632017 # Seafloor depth:-1035.632017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1039.634512 meters looking forward 0.000000 meters along route # Maximum depth: 1039.634512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.634512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.799488; captureRadius = 10; duration = 122; initialDepth = 988.280052; finalDepth = 989.634512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.634512 # Seafloor depth:-1039.634512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1038.280052 meters looking forward 0.000000 meters along route # Maximum depth: 1038.280052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.280052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.800150; captureRadius = 10; duration = 122; initialDepth = 991.846438; finalDepth = 988.280052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.280052 # Seafloor depth:-1038.280052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1041.846438 meters looking forward 0.000000 meters along route # Maximum depth: 1041.846438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.846438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785334; longitude = -121.800853; captureRadius = 10; duration = 122; initialDepth = 994.612428; finalDepth = 991.846438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.846438 # Seafloor depth:-1041.846438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.612428 meters looking forward 0.000000 meters along route # Maximum depth: 1044.612428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.612428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.801476; captureRadius = 10; duration = 122; initialDepth = 994.803196; finalDepth = 994.612428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.612428 # Seafloor depth:-1044.612428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.803196 meters looking forward 0.000000 meters along route # Maximum depth: 1044.803196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.803196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.802138; captureRadius = 10; duration = 122; initialDepth = 991.844869; finalDepth = 994.803196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.803196 # Seafloor depth:-1044.803196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1041.844869 meters looking forward 0.000000 meters along route # Maximum depth: 1041.844869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.844869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.802801; captureRadius = 10; duration = 122; initialDepth = 995.843433; finalDepth = 991.844869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.844869 # Seafloor depth:-1041.844869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1045.843433 meters looking forward 0.000000 meters along route # Maximum depth: 1045.843433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.843433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.803464; captureRadius = 10; duration = 122; initialDepth = 993.249375; finalDepth = 995.843433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.843433 # Seafloor depth:-1045.843433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1043.249375 meters looking forward 0.000000 meters along route # Maximum depth: 1043.249375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.249375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781183; longitude = -121.804170; captureRadius = 10; duration = 122; initialDepth = 994.083511; finalDepth = 993.249375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.249375 # Seafloor depth:-1043.249375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.083511 meters looking forward 0.000000 meters along route # Maximum depth: 1044.083511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.083511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.804789; captureRadius = 10; duration = 122; initialDepth = 996.946289; finalDepth = 994.083511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.083511 # Seafloor depth:-1044.083511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.946289 meters looking forward 0.000000 meters along route # Maximum depth: 1046.946289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.946289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.805452; captureRadius = 10; duration = 122; initialDepth = 997.925469; finalDepth = 996.946289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.946289 # Seafloor depth:-1046.946289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.925469 meters looking forward 0.000000 meters along route # Maximum depth: 1047.925469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.925469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.806114; captureRadius = 10; duration = 122; initialDepth = 997.751588; finalDepth = 997.925469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.925469 # Seafloor depth:-1047.925469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.751588 meters looking forward 0.000000 meters along route # Maximum depth: 1047.751588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.751588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.806777; captureRadius = 10; duration = 122; initialDepth = 996.988686; finalDepth = 997.751588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.751588 # Seafloor depth:-1047.751588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.988686 meters looking forward 0.000000 meters along route # Maximum depth: 1046.988686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.988686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777033; longitude = -121.807487; captureRadius = 10; duration = 122; initialDepth = 995.008795; finalDepth = 996.988686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.988686 # Seafloor depth:-1046.988686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1045.008795 meters looking forward 0.000000 meters along route # Maximum depth: 1045.008795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.008795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.808102; captureRadius = 10; duration = 122; initialDepth = 996.816714; finalDepth = 995.008795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.008795 # Seafloor depth:-1045.008795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.816714 meters looking forward 0.000000 meters along route # Maximum depth: 1046.816714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.816714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.808765; captureRadius = 10; duration = 122; initialDepth = 997.293293; finalDepth = 996.816714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.816714 # Seafloor depth:-1046.816714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.293293 meters looking forward 0.000000 meters along route # Maximum depth: 1047.293293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.293293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.809428; captureRadius = 10; duration = 122; initialDepth = 998.220482; finalDepth = 997.293293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.293293 # Seafloor depth:-1047.293293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.220482 meters looking forward 0.000000 meters along route # Maximum depth: 1048.220482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.220482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.810090; captureRadius = 10; duration = 122; initialDepth = 998.505204; finalDepth = 998.220482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.220482 # Seafloor depth:-1048.220482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.505204 meters looking forward 0.000000 meters along route # Maximum depth: 1048.505204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.505204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772883; longitude = -121.810804; captureRadius = 10; duration = 122; initialDepth = 999.168964; finalDepth = 998.505204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.505204 # Seafloor depth:-1048.505204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.168964 meters looking forward 0.000000 meters along route # Maximum depth: 1049.168964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.168964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.811416; captureRadius = 10; duration = 122; initialDepth = 996.431791; finalDepth = 999.168964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.168964 # Seafloor depth:-1049.168964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.431791 meters looking forward 0.000000 meters along route # Maximum depth: 1046.431791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.431791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.812078; captureRadius = 10; duration = 122; initialDepth = 997.036681; finalDepth = 996.431791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.431791 # Seafloor depth:-1046.431791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.036681 meters looking forward 0.000000 meters along route # Maximum depth: 1047.036681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.036681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.812741; captureRadius = 10; duration = 122; initialDepth = 996.286354; finalDepth = 997.036681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.036681 # Seafloor depth:-1047.036681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.286354 meters looking forward 0.000000 meters along route # Maximum depth: 1046.286354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.286354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.813404; captureRadius = 10; duration = 122; initialDepth = 1001.421380; finalDepth = 996.286354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.286354 # Seafloor depth:-1046.286354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.421380 meters looking forward 0.000000 meters along route # Maximum depth: 1051.421380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.421380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768732; longitude = -121.814121; captureRadius = 10; duration = 122; initialDepth = 1000.861203; finalDepth = 1001.421380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.42138 # Seafloor depth:-1051.421380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.861203 meters looking forward 0.000000 meters along route # Maximum depth: 1050.861203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.861203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.814729; captureRadius = 10; duration = 122; initialDepth = 999.833655; finalDepth = 1000.861203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.861203 # Seafloor depth:-1050.861203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.833655 meters looking forward 0.000000 meters along route # Maximum depth: 1049.833655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.833655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.815392; captureRadius = 10; duration = 122; initialDepth = 1000.104256; finalDepth = 999.833655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.833655 # Seafloor depth:-1049.833655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.104256 meters looking forward 0.000000 meters along route # Maximum depth: 1050.104256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.104256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766311; longitude = -121.816056; captureRadius = 10; duration = 122; initialDepth = 998.869629; finalDepth = 1000.104256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.104256 # Seafloor depth:-1050.104256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.869629 meters looking forward 0.000000 meters along route # Maximum depth: 1048.869629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.869629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.816717; captureRadius = 10; duration = 122; initialDepth = 999.136714; finalDepth = 998.869629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.869629 # Seafloor depth:-1048.869629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.136714 meters looking forward 0.000000 meters along route # Maximum depth: 1049.136714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.136714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764582; longitude = -121.817438; captureRadius = 10; duration = 122; initialDepth = 997.666605; finalDepth = 999.136714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.136714 # Seafloor depth:-1049.136714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.666605 meters looking forward 0.000000 meters along route # Maximum depth: 1047.666605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.666605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.818042; captureRadius = 10; duration = 122; initialDepth = 997.636366; finalDepth = 997.666605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.666605 # Seafloor depth:-1047.666605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.636366 meters looking forward 0.000000 meters along route # Maximum depth: 1047.636366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.636366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.818705; captureRadius = 10; duration = 122; initialDepth = 997.835922; finalDepth = 997.636366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.636366 # Seafloor depth:-1047.636366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.835922 meters looking forward 0.000000 meters along route # Maximum depth: 1047.835922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.835922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762161; longitude = -121.819373; captureRadius = 10; duration = 122; initialDepth = 998.690929; finalDepth = 997.835922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.835922 # Seafloor depth:-1047.835922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.690929 meters looking forward 0.000000 meters along route # Maximum depth: 1048.690929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.690929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.820030; captureRadius = 10; duration = 122; initialDepth = 999.946237; finalDepth = 998.690929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.690929 # Seafloor depth:-1048.690929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.946237 meters looking forward 0.000000 meters along route # Maximum depth: 1049.946237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.946237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.820693; captureRadius = 10; duration = 122; initialDepth = 997.007528; finalDepth = 999.946237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.946237 # Seafloor depth:-1049.946237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.007528 meters looking forward 0.000000 meters along route # Maximum depth: 1047.007528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.007528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.821356; captureRadius = 10; duration = 122; initialDepth = 997.793527; finalDepth = 997.007528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.007528 # Seafloor depth:-1047.007528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1047.793527 meters looking forward 0.000000 meters along route # Maximum depth: 1047.793527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.793527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.822018; captureRadius = 10; duration = 122; initialDepth = 995.538589; finalDepth = 997.793527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.793527 # Seafloor depth:-1047.793527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1045.538589 meters looking forward 0.000000 meters along route # Maximum depth: 1045.538589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.538589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758010; longitude = -121.822689; captureRadius = 10; duration = 122; initialDepth = 995.945355; finalDepth = 995.538589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.538589 # Seafloor depth:-1045.538589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1045.945355 meters looking forward 0.000000 meters along route # Maximum depth: 1045.945355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.945355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.823344; captureRadius = 10; duration = 122; initialDepth = 996.646378; finalDepth = 995.945355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.945355 # Seafloor depth:-1045.945355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.646378 meters looking forward 0.000000 meters along route # Maximum depth: 1046.646378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.646378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.824006; captureRadius = 10; duration = 122; initialDepth = 996.874763; finalDepth = 996.646378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.646378 # Seafloor depth:-1046.646378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.874763 meters looking forward 0.000000 meters along route # Maximum depth: 1046.874763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.874763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.824669; captureRadius = 10; duration = 122; initialDepth = 999.978877; finalDepth = 996.874763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.874763 # Seafloor depth:-1046.874763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.978877 meters looking forward 0.000000 meters along route # Maximum depth: 1049.978877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.978877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.825332; captureRadius = 10; duration = 122; initialDepth = 996.651589; finalDepth = 999.978877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.978877 # Seafloor depth:-1049.978877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.651589 meters looking forward 0.000000 meters along route # Maximum depth: 1046.651589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.651589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753860; longitude = -121.826006; captureRadius = 10; duration = 122; initialDepth = 996.629400; finalDepth = 996.651589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.651589 # Seafloor depth:-1046.651589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.629400 meters looking forward 0.000000 meters along route # Maximum depth: 1046.629400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.629400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.826657; captureRadius = 10; duration = 122; initialDepth = 995.770809; finalDepth = 996.629400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.6294 # Seafloor depth:-1046.629400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1045.770809 meters looking forward 0.000000 meters along route # Maximum depth: 1045.770809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.770809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.827320; captureRadius = 10; duration = 122; initialDepth = 996.333738; finalDepth = 995.770809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.770809 # Seafloor depth:-1045.770809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.333738 meters looking forward 0.000000 meters along route # Maximum depth: 1046.333738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.333738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.827982; captureRadius = 10; duration = 122; initialDepth = 1004.900741; finalDepth = 996.333738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.333738 # Seafloor depth:-1046.333738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.900741 meters looking forward 0.000000 meters along route # Maximum depth: 1054.900741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.900741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.828645; captureRadius = 10; duration = 122; initialDepth = 1004.134058; finalDepth = 1004.900741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.900741 # Seafloor depth:-1054.900741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1054.134058 meters looking forward 0.000000 meters along route # Maximum depth: 1054.134058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.134058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749709; longitude = -121.829323; captureRadius = 10; duration = 122; initialDepth = 998.774101; finalDepth = 1004.134058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.134058 # Seafloor depth:-1054.134058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.774101 meters looking forward 0.000000 meters along route # Maximum depth: 1048.774101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.774101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.829970; captureRadius = 10; duration = 122; initialDepth = 994.735910; finalDepth = 998.774101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.774101 # Seafloor depth:-1048.774101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.735910 meters looking forward 0.000000 meters along route # Maximum depth: 1044.735910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.735910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.830633; captureRadius = 10; duration = 122; initialDepth = 994.870397; finalDepth = 994.735910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.73591 # Seafloor depth:-1044.735910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1044.870397 meters looking forward 0.000000 meters along route # Maximum depth: 1044.870397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.870397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.831296; captureRadius = 10; duration = 122; initialDepth = 1002.912923; finalDepth = 994.870397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.870397 # Seafloor depth:-1044.870397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.912923 meters looking forward 0.000000 meters along route # Maximum depth: 1052.912923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.912923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.831958; captureRadius = 10; duration = 122; initialDepth = 1001.992739; finalDepth = 1002.912923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.912923 # Seafloor depth:-1052.912923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.992739 meters looking forward 0.000000 meters along route # Maximum depth: 1051.992739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.992739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745559; longitude = -121.832640; captureRadius = 10; duration = 122; initialDepth = 1000.323675; finalDepth = 1001.992739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.992739 # Seafloor depth:-1051.992739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.323675 meters looking forward 0.000000 meters along route # Maximum depth: 1050.323675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.323675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.833284; captureRadius = 10; duration = 122; initialDepth = 999.880174; finalDepth = 1000.323675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.323675 # Seafloor depth:-1050.323675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.880174 meters looking forward 0.000000 meters along route # Maximum depth: 1049.880174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.880174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.833946; captureRadius = 10; duration = 122; initialDepth = 1002.531257; finalDepth = 999.880174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.880174 # Seafloor depth:-1049.880174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.531257 meters looking forward 0.000000 meters along route # Maximum depth: 1052.531257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.531257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.834609; captureRadius = 10; duration = 122; initialDepth = 999.878585; finalDepth = 1002.531257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.531257 # Seafloor depth:-1052.531257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.878585 meters looking forward 0.000000 meters along route # Maximum depth: 1049.878585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.878585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.835272; captureRadius = 10; duration = 122; initialDepth = 996.967709; finalDepth = 999.878585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.878585 # Seafloor depth:-1049.878585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1046.967709 meters looking forward 0.000000 meters along route # Maximum depth: 1046.967709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.967709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741408; longitude = -121.835957; captureRadius = 10; duration = 122; initialDepth = 999.027080; finalDepth = 996.967709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.967709 # Seafloor depth:-1046.967709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.027080 meters looking forward 0.000000 meters along route # Maximum depth: 1049.027080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.027080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740607; longitude = -121.836597; captureRadius = 10; duration = 122; initialDepth = 998.904606; finalDepth = 999.027080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.02708 # Seafloor depth:-1049.027080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.904606 meters looking forward 0.000000 meters along route # Maximum depth: 1048.904606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.904606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.837260; captureRadius = 10; duration = 122; initialDepth = 1000.045116; finalDepth = 998.904606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.904606 # Seafloor depth:-1048.904606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.045116 meters looking forward 0.000000 meters along route # Maximum depth: 1050.045116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.045116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.837922; captureRadius = 10; duration = 122; initialDepth = 999.354603; finalDepth = 1000.045116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.045116 # Seafloor depth:-1050.045116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.354603 meters looking forward 0.000000 meters along route # Maximum depth: 1049.354603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.354603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.838585; captureRadius = 10; duration = 122; initialDepth = 1000.516775; finalDepth = 999.354603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.354603 # Seafloor depth:-1049.354603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.516775 meters looking forward 0.000000 meters along route # Maximum depth: 1050.516775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.516775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737258; longitude = -121.839274; captureRadius = 10; duration = 122; initialDepth = 999.036055; finalDepth = 1000.516775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.516775 # Seafloor depth:-1050.516775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.036055 meters looking forward 0.000000 meters along route # Maximum depth: 1049.036055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.036055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.839910; captureRadius = 10; duration = 122; initialDepth = 1001.468096; finalDepth = 999.036055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.036055 # Seafloor depth:-1049.036055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.468096 meters looking forward 0.000000 meters along route # Maximum depth: 1051.468096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.468096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.840573; captureRadius = 10; duration = 122; initialDepth = 1000.045927; finalDepth = 1001.468096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.468096 # Seafloor depth:-1051.468096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.045927 meters looking forward 0.000000 meters along route # Maximum depth: 1050.045927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.045927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734803; longitude = -121.841236; captureRadius = 10; duration = 122; initialDepth = 1002.561009; finalDepth = 1000.045927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.045927 # Seafloor depth:-1050.045927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.561009 meters looking forward 0.000000 meters along route # Maximum depth: 1052.561009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.561009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733973; longitude = -121.841898; captureRadius = 10; duration = 122; initialDepth = 1002.610464; finalDepth = 1002.561009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.561009 # Seafloor depth:-1052.561009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.610464 meters looking forward 0.000000 meters along route # Maximum depth: 1052.610464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.610464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733107; longitude = -121.842590; captureRadius = 10; duration = 122; initialDepth = 1002.116988; finalDepth = 1002.610464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.610464 # Seafloor depth:-1052.610464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1052.116988 meters looking forward 0.000000 meters along route # Maximum depth: 1052.116988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.116988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.843224; captureRadius = 10; duration = 122; initialDepth = 1003.297840; finalDepth = 1002.116988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.116988 # Seafloor depth:-1052.116988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.297840 meters looking forward 0.000000 meters along route # Maximum depth: 1053.297840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.297840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.843886; captureRadius = 10; duration = 122; initialDepth = 1003.108033; finalDepth = 1003.297840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.29784 # Seafloor depth:-1053.297840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.108033 meters looking forward 0.000000 meters along route # Maximum depth: 1053.108033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.108033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.844549; captureRadius = 10; duration = 122; initialDepth = 1000.580605; finalDepth = 1003.108033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.108033 # Seafloor depth:-1053.108033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.580605 meters looking forward 0.000000 meters along route # Maximum depth: 1050.580605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.580605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.845212; captureRadius = 10; duration = 122; initialDepth = 1000.993584; finalDepth = 1000.580605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.580605 # Seafloor depth:-1050.580605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.993584 meters looking forward 0.000000 meters along route # Maximum depth: 1050.993584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.993584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728957; longitude = -121.845907; captureRadius = 10; duration = 122; initialDepth = 1001.576904; finalDepth = 1000.993584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.993584 # Seafloor depth:-1050.993584 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1051.576904 meters looking forward 0.000000 meters along route # Maximum depth: 1051.576904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.576904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728076; longitude = -121.846611; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 1000.038943; finalDepth = 1001.576904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.576904 # Seafloor depth:-1051.576904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.038943 meters looking forward 0.000000 meters along route # Maximum depth: 1050.038943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.038943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727850; longitude = -121.846184; captureRadius = 10; duration = 122; initialDepth = 1000.365143; finalDepth = 1000.038943; 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:1000.038943 # Seafloor depth:-1050.038943 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 1 # Segment length 122.767258 meters # Minimum depth: 1050.365143 meters looking forward 0.000000 meters along route # Maximum depth: 1050.365143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.365143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727339; longitude = -121.845221; captureRadius = 10; duration = 122; # abortOnTimeout = True; initialDepth = 999.959049; finalDepth = 1000.365143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.365143 # Seafloor depth:-1050.365143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.959049 meters looking forward 0.000000 meters along route # Maximum depth: 1049.959049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.959049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727893; longitude = -121.844782; captureRadius = 10; duration = 122; initialDepth = 998.581071; finalDepth = 999.959049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.959049 # Seafloor depth:-1049.959049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.581071 meters looking forward 0.000000 meters along route # Maximum depth: 1048.581071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.581071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.844124; captureRadius = 10; duration = 122; initialDepth = 1001.665805; finalDepth = 998.581071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.581071 # Seafloor depth:-1048.581071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1051.665805 meters looking forward 0.000000 meters along route # Maximum depth: 1051.665805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.665805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729610; longitude = -121.843420; captureRadius = 10; duration = 122; initialDepth = 1000.614314; finalDepth = 1001.665805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.665805 # Seafloor depth:-1051.665805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.614314 meters looking forward 0.000000 meters along route # Maximum depth: 1050.614314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.614314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.842809; captureRadius = 10; duration = 122; initialDepth = 999.159821; finalDepth = 1000.614314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.614314 # Seafloor depth:-1050.614314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.159821 meters looking forward 0.000000 meters along route # Maximum depth: 1049.159821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.159821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.842152; captureRadius = 10; duration = 122; initialDepth = 1000.411717; finalDepth = 999.159821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.159821 # Seafloor depth:-1049.159821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.411717 meters looking forward 0.000000 meters along route # Maximum depth: 1050.411717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.411717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732050; longitude = -121.841485; captureRadius = 10; duration = 122; initialDepth = 998.926289; finalDepth = 1000.411717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.411717 # Seafloor depth:-1050.411717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.926289 meters looking forward 0.000000 meters along route # Maximum depth: 1048.926289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.926289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.840836; captureRadius = 10; duration = 122; initialDepth = 1000.842129; finalDepth = 998.926289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.926289 # Seafloor depth:-1048.926289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.842129 meters looking forward 0.000000 meters along route # Maximum depth: 1050.842129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.842129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.840179; captureRadius = 10; duration = 122; initialDepth = 998.723794; finalDepth = 1000.842129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.842129 # Seafloor depth:-1050.842129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.723794 meters looking forward 0.000000 meters along route # Maximum depth: 1048.723794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.723794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.839521; captureRadius = 10; duration = 122; initialDepth = 1000.443242; finalDepth = 998.723794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.723794 # Seafloor depth:-1048.723794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1050.443242 meters looking forward 0.000000 meters along route # Maximum depth: 1050.443242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.443242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.838863; captureRadius = 10; duration = 122; initialDepth = 999.140911; finalDepth = 1000.443242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.443242 # Seafloor depth:-1050.443242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.140911 meters looking forward 0.000000 meters along route # Maximum depth: 1049.140911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.140911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736232; longitude = -121.838168; captureRadius = 10; duration = 122; initialDepth = 998.950752; finalDepth = 999.140911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.140911 # Seafloor depth:-1049.140911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.950752 meters looking forward 0.000000 meters along route # Maximum depth: 1048.950752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.950752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737014; longitude = -121.837548; captureRadius = 10; duration = 122; initialDepth = 999.314712; finalDepth = 998.950752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.950752 # Seafloor depth:-1048.950752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.314712 meters looking forward 0.000000 meters along route # Maximum depth: 1049.314712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.314712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.836891; captureRadius = 10; duration = 122; initialDepth = 1003.876052; finalDepth = 999.314712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.314712 # Seafloor depth:-1049.314712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1053.876052 meters looking forward 0.000000 meters along route # Maximum depth: 1053.876052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.876052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.836233; captureRadius = 10; duration = 122; initialDepth = 998.595700; finalDepth = 1003.876052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.876052 # Seafloor depth:-1053.876052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1048.595700 meters looking forward 0.000000 meters along route # Maximum depth: 1048.595700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.595700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.835575; captureRadius = 10; duration = 122; initialDepth = 999.408027; finalDepth = 998.595700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.5957 # Seafloor depth:-1048.595700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 122.767258 meters # Minimum depth: 1049.408027 meters looking forward 0.000000 meters along route # Maximum depth: 1049.408027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1056.137376 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.408027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740415; longitude = -121.834851; captureRadius = 10; duration = 122; initialDepth = 999.470622; finalDepth = 999.408027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.408027 # Seafloor depth:-1049.408027 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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:999.470622 # Seafloor depth:-1049.470622 # 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 = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 122.767258 meters # Minimum depth: 1049.470622 meters looking forward 0.000000 meters along route # Maximum depth: 1049.470622 meters looking forward 0.000000 meters along route # Vehicle depth: 999.470622 meters behavior waypoint { latitude = 35.741344; longitude = -121.834114; captureRadius = 10; duration = 249; depth = 999.470622; 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 999.470622 meters set by local depth and desired altitude behavior descend { duration = 3020; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 989.470622; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 122.767258 meters # Minimum depth: 1049.470622 meters looking forward 0.000000 meters along route # Maximum depth: 1049.470622 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.741344; longitude = -121.834114; captureRadius = 10; duration = 500; 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 = 212.209269; 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 = 212.209269; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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; } # ####################################################### #######################################################