# 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_3v2.rte # Mission File: Lucia2008_3v2.cfg # Distance: 83598.112271 (m) # Estimated Time: 58668 (s) 16.297 (hr) # Abort Time: 61616 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1383 (s) # Way Points: 10 # Route Points: 749 # 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: 1192.912383 (m) # Abort Vehicle Depth: 1217.912383 (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 -121.731937 35.749821 -937.512207 0.000000 3 # 1 -121.875667 35.824173 -1152.621338 15387.711106 4 # 2 -121.886907 35.810445 -1194.821615 17218.062591 3 # 3 -121.743454 35.734987 -944.182699 32652.757649 4 # 4 -121.752943 35.724115 -943.923264 34133.014803 3 # 5 -121.895199 35.799942 -1203.211975 49500.590620 4 # 6 -121.907297 35.784844 -1139.391663 51500.590624 3 # 7 -121.765056 35.709032 -964.038483 66868.166439 4 # 8 -121.773305 35.698778 -972.751790 68228.598147 3 # 9 -121.915469 35.774697 -1152.766602 83598.112271 4 # # A total of 749 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61616; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1192.912383; abortDepth = 1217.912383; 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 = 1383; 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 9 # Segment length 128.275157 meters # Minimum depth: 1152.766602 meters looking forward 0.000000 meters along route # Maximum depth: 1152.766602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.766602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774697; longitude = -121.915469; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 1101.901338; finalDepth = 1102.766602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.766602 # Seafloor depth:-1152.766602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1151.901338 meters looking forward 0.000000 meters along route # Maximum depth: 1151.901338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.901338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774599; longitude = -121.915285; captureRadius = 10; duration = 128; initialDepth = 1103.364629; finalDepth = 1101.901338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.901338 # Seafloor depth:-1151.901338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.364629 meters looking forward 0.000000 meters along route # Maximum depth: 1153.364629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.364629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774008; longitude = -121.914179; captureRadius = 10; duration = 128; initialDepth = 1103.083698; finalDepth = 1103.364629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.364629 # Seafloor depth:-1153.364629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.083698 meters looking forward 0.000000 meters along route # Maximum depth: 1153.083698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.083698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.913226; captureRadius = 10; duration = 128; initialDepth = 1103.882821; finalDepth = 1103.083698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.083698 # Seafloor depth:-1153.083698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.882821 meters looking forward 0.000000 meters along route # Maximum depth: 1153.882821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.882821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.912191; captureRadius = 10; duration = 128; initialDepth = 1105.262692; finalDepth = 1103.882821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.882821 # Seafloor depth:-1153.882821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1155.262692 meters looking forward 0.000000 meters along route # Maximum depth: 1155.262692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.262692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772384; longitude = -121.911139; captureRadius = 10; duration = 128; initialDepth = 1105.472399; finalDepth = 1105.262692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.262692 # Seafloor depth:-1155.262692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1155.472399 meters looking forward 0.000000 meters along route # Maximum depth: 1155.472399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.472399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771794; longitude = -121.910033; captureRadius = 10; duration = 128; initialDepth = 1103.551715; finalDepth = 1105.472399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.472399 # Seafloor depth:-1155.472399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.551715 meters looking forward 0.000000 meters along route # Maximum depth: 1153.551715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.551715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.909085; captureRadius = 10; duration = 128; initialDepth = 1103.824429; finalDepth = 1103.551715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.551715 # Seafloor depth:-1153.551715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.824429 meters looking forward 0.000000 meters along route # Maximum depth: 1153.824429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.824429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.908050; captureRadius = 10; duration = 128; initialDepth = 1104.885939; finalDepth = 1103.824429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.824429 # Seafloor depth:-1153.824429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1154.885939 meters looking forward 0.000000 meters along route # Maximum depth: 1154.885939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.885939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770170; longitude = -121.906993; captureRadius = 10; duration = 128; initialDepth = 1102.337712; finalDepth = 1104.885939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.885939 # Seafloor depth:-1154.885939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1152.337712 meters looking forward 0.000000 meters along route # Maximum depth: 1152.337712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.337712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769580; longitude = -121.905887; captureRadius = 10; duration = 128; initialDepth = 1102.730083; finalDepth = 1102.337712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.337712 # Seafloor depth:-1152.337712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1152.730083 meters looking forward 0.000000 meters along route # Maximum depth: 1152.730083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.730083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.904945; captureRadius = 10; duration = 128; initialDepth = 1103.712250; finalDepth = 1102.730083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.730083 # Seafloor depth:-1152.730083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.712250 meters looking forward 0.000000 meters along route # Maximum depth: 1153.712250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.712250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.903909; captureRadius = 10; duration = 128; initialDepth = 1099.936144; finalDepth = 1103.712250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.71225 # Seafloor depth:-1153.712250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1149.936144 meters looking forward 0.000000 meters along route # Maximum depth: 1149.936144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.936144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767956; longitude = -121.902846; captureRadius = 10; duration = 128; initialDepth = 1100.130060; finalDepth = 1099.936144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1099.936144 # Seafloor depth:-1149.936144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1150.130060 meters looking forward 0.000000 meters along route # Maximum depth: 1150.130060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.130060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767366; longitude = -121.901741; captureRadius = 10; duration = 128; initialDepth = 1101.734003; finalDepth = 1100.130060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.13006 # Seafloor depth:-1150.130060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1151.734003 meters looking forward 0.000000 meters along route # Maximum depth: 1151.734003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.734003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.900804; captureRadius = 10; duration = 128; initialDepth = 1101.760170; finalDepth = 1101.734003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.734003 # Seafloor depth:-1151.734003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1151.760170 meters looking forward 0.000000 meters along route # Maximum depth: 1151.760170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.760170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.899769; captureRadius = 10; duration = 128; initialDepth = 1103.681745; finalDepth = 1101.760170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.76017 # Seafloor depth:-1151.760170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.681745 meters looking forward 0.000000 meters along route # Maximum depth: 1153.681745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.681745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765742; longitude = -121.898700; captureRadius = 10; duration = 128; initialDepth = 1097.675307; finalDepth = 1103.681745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.681745 # Seafloor depth:-1153.681745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1147.675307 meters looking forward 0.000000 meters along route # Maximum depth: 1147.675307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.675307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765152; longitude = -121.897595; captureRadius = 10; duration = 128; initialDepth = 1096.791492; finalDepth = 1097.675307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.675307 # Seafloor depth:-1147.675307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1146.791492 meters looking forward 0.000000 meters along route # Maximum depth: 1146.791492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.791492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.896663; captureRadius = 10; duration = 128; initialDepth = 1096.216768; finalDepth = 1096.791492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.791492 # Seafloor depth:-1146.791492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1146.216768 meters looking forward 0.000000 meters along route # Maximum depth: 1146.216768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.216768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.895628; captureRadius = 10; duration = 128; initialDepth = 1094.966093; finalDepth = 1096.216768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.216768 # Seafloor depth:-1146.216768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1144.966093 meters looking forward 0.000000 meters along route # Maximum depth: 1144.966093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.966093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763528; longitude = -121.894554; captureRadius = 10; duration = 128; initialDepth = 1093.867660; finalDepth = 1094.966093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.966093 # Seafloor depth:-1144.966093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1143.867660 meters looking forward 0.000000 meters along route # Maximum depth: 1143.867660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.867660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762938; longitude = -121.893449; captureRadius = 10; duration = 128; initialDepth = 1092.746544; finalDepth = 1093.867660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.86766 # Seafloor depth:-1143.867660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1142.746544 meters looking forward 0.000000 meters along route # Maximum depth: 1142.746544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.746544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.892523; captureRadius = 10; duration = 128; initialDepth = 1090.004638; finalDepth = 1092.746544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.746544 # Seafloor depth:-1142.746544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1140.004638 meters looking forward 0.000000 meters along route # Maximum depth: 1140.004638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.004638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.891487; captureRadius = 10; duration = 128; initialDepth = 1089.259042; finalDepth = 1090.004638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.004638 # Seafloor depth:-1140.004638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.259042 meters looking forward 0.000000 meters along route # Maximum depth: 1139.259042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.259042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761314; longitude = -121.890408; captureRadius = 10; duration = 128; initialDepth = 1089.955931; finalDepth = 1089.259042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.259042 # Seafloor depth:-1139.259042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.955931 meters looking forward 0.000000 meters along route # Maximum depth: 1139.955931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.955931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.889417; captureRadius = 10; duration = 128; initialDepth = 1089.721027; finalDepth = 1089.955931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.955931 # Seafloor depth:-1139.955931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.721027 meters looking forward 0.000000 meters along route # Maximum depth: 1139.721027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.721027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.888382; captureRadius = 10; duration = 128; initialDepth = 1083.266882; finalDepth = 1089.721027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.721027 # Seafloor depth:-1139.721027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1133.266882 meters looking forward 0.000000 meters along route # Maximum depth: 1133.266882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.266882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.887347; captureRadius = 10; duration = 128; initialDepth = 1083.812550; finalDepth = 1083.266882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.266882 # Seafloor depth:-1133.266882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1133.812550 meters looking forward 0.000000 meters along route # Maximum depth: 1133.812550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.812550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759100; longitude = -121.886262; captureRadius = 10; duration = 128; initialDepth = 1082.200373; finalDepth = 1083.812550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.81255 # Seafloor depth:-1133.812550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1132.200373 meters looking forward 0.000000 meters along route # Maximum depth: 1132.200373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.200373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.885276; captureRadius = 10; duration = 128; initialDepth = 1080.638041; finalDepth = 1082.200373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.200373 # Seafloor depth:-1132.200373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1130.638041 meters looking forward 0.000000 meters along route # Maximum depth: 1130.638041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.638041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.884241; captureRadius = 10; duration = 128; initialDepth = 1079.951363; finalDepth = 1080.638041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.638041 # Seafloor depth:-1130.638041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1129.951363 meters looking forward 0.000000 meters along route # Maximum depth: 1129.951363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.951363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.883206; captureRadius = 10; duration = 128; initialDepth = 1082.219518; finalDepth = 1079.951363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.951363 # Seafloor depth:-1129.951363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1132.219518 meters looking forward 0.000000 meters along route # Maximum depth: 1132.219518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.219518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756886; longitude = -121.882116; captureRadius = 10; duration = 128; initialDepth = 1083.602167; finalDepth = 1082.219518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.219518 # Seafloor depth:-1132.219518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1133.602167 meters looking forward 0.000000 meters along route # Maximum depth: 1133.602167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.602167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.881136; captureRadius = 10; duration = 128; initialDepth = 1080.740671; finalDepth = 1083.602167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.602167 # Seafloor depth:-1133.602167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1130.740671 meters looking forward 0.000000 meters along route # Maximum depth: 1130.740671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.740671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.880101; captureRadius = 10; duration = 128; initialDepth = 1072.664494; finalDepth = 1080.740671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.740671 # Seafloor depth:-1130.740671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1122.664494 meters looking forward 0.000000 meters along route # Maximum depth: 1122.664494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.664494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.879065; captureRadius = 10; duration = 128; initialDepth = 1068.369096; finalDepth = 1072.664494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.664494 # Seafloor depth:-1122.664494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1118.369096 meters looking forward 0.000000 meters along route # Maximum depth: 1118.369096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.369096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754672; longitude = -121.877970; captureRadius = 10; duration = 128; initialDepth = 1065.454265; finalDepth = 1068.369096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.369096 # Seafloor depth:-1118.369096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1115.454265 meters looking forward 0.000000 meters along route # Maximum depth: 1115.454265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.454265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.876995; captureRadius = 10; duration = 128; initialDepth = 1063.760237; finalDepth = 1065.454265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.454265 # Seafloor depth:-1115.454265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1113.760237 meters looking forward 0.000000 meters along route # Maximum depth: 1113.760237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.760237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.875960; captureRadius = 10; duration = 128; initialDepth = 1060.886454; finalDepth = 1063.760237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.760237 # Seafloor depth:-1113.760237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1110.886454 meters looking forward 0.000000 meters along route # Maximum depth: 1110.886454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.886454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.874925; captureRadius = 10; duration = 128; initialDepth = 1056.844157; finalDepth = 1060.886454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.886454 # Seafloor depth:-1110.886454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1106.844157 meters looking forward 0.000000 meters along route # Maximum depth: 1106.844157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.844157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752458; longitude = -121.873824; captureRadius = 10; duration = 128; initialDepth = 1056.421485; finalDepth = 1056.844157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.844157 # Seafloor depth:-1106.844157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1106.421485 meters looking forward 0.000000 meters along route # Maximum depth: 1106.421485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.421485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.872854; captureRadius = 10; duration = 128; initialDepth = 1057.526274; finalDepth = 1056.421485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.421485 # Seafloor depth:-1106.421485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1107.526274 meters looking forward 0.000000 meters along route # Maximum depth: 1107.526274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.526274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.871819; captureRadius = 10; duration = 128; initialDepth = 1057.715276; finalDepth = 1057.526274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.526274 # Seafloor depth:-1107.526274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1107.715276 meters looking forward 0.000000 meters along route # Maximum depth: 1107.715276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.715276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.870784; captureRadius = 10; duration = 128; initialDepth = 1053.207080; finalDepth = 1057.715276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.715276 # Seafloor depth:-1107.715276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1103.207080 meters looking forward 0.000000 meters along route # Maximum depth: 1103.207080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.207080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750243; longitude = -121.869678; captureRadius = 10; duration = 128; initialDepth = 1057.111353; finalDepth = 1053.207080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.20708 # Seafloor depth:-1103.207080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1107.111353 meters looking forward 0.000000 meters along route # Maximum depth: 1107.111353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.111353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.868714; captureRadius = 10; duration = 128; initialDepth = 1051.835552; finalDepth = 1057.111353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.111353 # Seafloor depth:-1107.111353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1101.835552 meters looking forward 0.000000 meters along route # Maximum depth: 1101.835552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.835552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.867678; captureRadius = 10; duration = 128; initialDepth = 1046.692398; finalDepth = 1051.835552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.835552 # Seafloor depth:-1101.835552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1096.692398 meters looking forward 0.000000 meters along route # Maximum depth: 1096.692398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.692398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748620; longitude = -121.866638; captureRadius = 10; duration = 128; initialDepth = 1050.192964; finalDepth = 1046.692398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.692398 # Seafloor depth:-1096.692398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1100.192964 meters looking forward 0.000000 meters along route # Maximum depth: 1100.192964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.192964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748029; longitude = -121.865532; captureRadius = 10; duration = 128; initialDepth = 1045.660321; finalDepth = 1050.192964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.192964 # Seafloor depth:-1100.192964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1095.660321 meters looking forward 0.000000 meters along route # Maximum depth: 1095.660321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.660321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.864573; captureRadius = 10; duration = 128; initialDepth = 1041.768715; finalDepth = 1045.660321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.660321 # Seafloor depth:-1095.660321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1091.768715 meters looking forward 0.000000 meters along route # Maximum depth: 1091.768715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.768715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.863538; captureRadius = 10; duration = 128; initialDepth = 1038.805888; finalDepth = 1041.768715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.768715 # Seafloor depth:-1091.768715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1088.805888 meters looking forward 0.000000 meters along route # Maximum depth: 1088.805888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.805888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746406; longitude = -121.862492; captureRadius = 10; duration = 128; initialDepth = 1038.013308; finalDepth = 1038.805888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.805888 # Seafloor depth:-1088.805888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1088.013308 meters looking forward 0.000000 meters along route # Maximum depth: 1088.013308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.013308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745815; longitude = -121.861386; captureRadius = 10; duration = 128; initialDepth = 1035.845916; finalDepth = 1038.013308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.013308 # Seafloor depth:-1088.013308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1085.845916 meters looking forward 0.000000 meters along route # Maximum depth: 1085.845916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.845916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.860432; captureRadius = 10; duration = 128; initialDepth = 1033.556529; finalDepth = 1035.845916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.845916 # Seafloor depth:-1085.845916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1083.556529 meters looking forward 0.000000 meters along route # Maximum depth: 1083.556529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.556529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.859397; captureRadius = 10; duration = 128; initialDepth = 1033.169932; finalDepth = 1033.556529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.556529 # Seafloor depth:-1083.556529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1083.169932 meters looking forward 0.000000 meters along route # Maximum depth: 1083.169932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.169932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744192; longitude = -121.858345; captureRadius = 10; duration = 128; initialDepth = 1027.125503; finalDepth = 1033.169932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.169932 # Seafloor depth:-1083.169932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1077.125503 meters looking forward 0.000000 meters along route # Maximum depth: 1077.125503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.125503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743601; longitude = -121.857240; captureRadius = 10; duration = 128; initialDepth = 1025.298754; finalDepth = 1027.125503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.125503 # Seafloor depth:-1077.125503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1075.298754 meters looking forward 0.000000 meters along route # Maximum depth: 1075.298754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.298754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.856292; captureRadius = 10; duration = 128; initialDepth = 1023.027590; finalDepth = 1025.298754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.298754 # Seafloor depth:-1075.298754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1073.027590 meters looking forward 0.000000 meters along route # Maximum depth: 1073.027590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.027590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.855256; captureRadius = 10; duration = 128; initialDepth = 1023.017946; finalDepth = 1023.027590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.02759 # Seafloor depth:-1073.027590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1073.017946 meters looking forward 0.000000 meters along route # Maximum depth: 1073.017946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.017946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741977; longitude = -121.854199; captureRadius = 10; duration = 128; initialDepth = 1022.562409; finalDepth = 1023.017946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.017946 # Seafloor depth:-1073.017946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1072.562409 meters looking forward 0.000000 meters along route # Maximum depth: 1072.562409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.562409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741387; longitude = -121.853094; captureRadius = 10; duration = 128; initialDepth = 1018.146932; finalDepth = 1022.562409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.562409 # Seafloor depth:-1072.562409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1068.146932 meters looking forward 0.000000 meters along route # Maximum depth: 1068.146932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.146932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.852151; captureRadius = 10; duration = 128; initialDepth = 1015.565273; finalDepth = 1018.146932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.146932 # Seafloor depth:-1068.146932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1065.565273 meters looking forward 0.000000 meters along route # Maximum depth: 1065.565273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.565273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.851116; captureRadius = 10; duration = 128; initialDepth = 1012.295951; finalDepth = 1015.565273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.565273 # Seafloor depth:-1065.565273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1062.295951 meters looking forward 0.000000 meters along route # Maximum depth: 1062.295951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.295951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739763; longitude = -121.850053; captureRadius = 10; duration = 128; initialDepth = 1012.997484; finalDepth = 1012.295951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.295951 # Seafloor depth:-1062.295951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1062.997484 meters looking forward 0.000000 meters along route # Maximum depth: 1062.997484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.997484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739173; longitude = -121.848948; captureRadius = 10; duration = 128; initialDepth = 1013.250734; finalDepth = 1012.997484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.997484 # Seafloor depth:-1062.997484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1063.250734 meters looking forward 0.000000 meters along route # Maximum depth: 1063.250734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.250734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.848010; captureRadius = 10; duration = 128; initialDepth = 1016.090898; finalDepth = 1013.250734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.250734 # Seafloor depth:-1063.250734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1066.090898 meters looking forward 0.000000 meters along route # Maximum depth: 1066.090898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.090898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.846975; captureRadius = 10; duration = 128; initialDepth = 1011.621629; finalDepth = 1016.090898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.090898 # Seafloor depth:-1066.090898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1061.621629 meters looking forward 0.000000 meters along route # Maximum depth: 1061.621629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.621629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737549; longitude = -121.845907; captureRadius = 10; duration = 128; initialDepth = 1007.612995; finalDepth = 1011.621629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.621629 # Seafloor depth:-1061.621629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1057.612995 meters looking forward 0.000000 meters along route # Maximum depth: 1057.612995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.612995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736959; longitude = -121.844802; captureRadius = 10; duration = 128; initialDepth = 1005.427286; finalDepth = 1007.612995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.612995 # Seafloor depth:-1057.612995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1055.427286 meters looking forward 0.000000 meters along route # Maximum depth: 1055.427286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.427286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.843869; captureRadius = 10; duration = 128; initialDepth = 1002.505783; finalDepth = 1005.427286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.427286 # Seafloor depth:-1055.427286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1052.505783 meters looking forward 0.000000 meters along route # Maximum depth: 1052.505783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.505783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.842834; captureRadius = 10; duration = 128; initialDepth = 1000.562109; finalDepth = 1002.505783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.505783 # Seafloor depth:-1052.505783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1050.562109 meters looking forward 0.000000 meters along route # Maximum depth: 1050.562109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.562109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735335; longitude = -121.841761; captureRadius = 10; duration = 128; initialDepth = 999.638458; finalDepth = 1000.562109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.562109 # Seafloor depth:-1050.562109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1049.638458 meters looking forward 0.000000 meters along route # Maximum depth: 1049.638458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.638458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734745; longitude = -121.840656; captureRadius = 10; duration = 128; initialDepth = 1000.598277; finalDepth = 999.638458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.638458 # Seafloor depth:-1049.638458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1050.598277 meters looking forward 0.000000 meters along route # Maximum depth: 1050.598277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.598277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.839729; captureRadius = 10; duration = 128; initialDepth = 1002.947199; finalDepth = 1000.598277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.598277 # Seafloor depth:-1050.598277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1052.947199 meters looking forward 0.000000 meters along route # Maximum depth: 1052.947199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.947199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.838694; captureRadius = 10; duration = 128; initialDepth = 1000.989604; finalDepth = 1002.947199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.947199 # Seafloor depth:-1052.947199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1050.989604 meters looking forward 0.000000 meters along route # Maximum depth: 1050.989604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.989604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733121; longitude = -121.837615; captureRadius = 10; duration = 128; initialDepth = 996.437470; finalDepth = 1000.989604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.989604 # Seafloor depth:-1050.989604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1046.437470 meters looking forward 0.000000 meters along route # Maximum depth: 1046.437470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.437470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.836623; captureRadius = 10; duration = 128; initialDepth = 996.828319; finalDepth = 996.437470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.43747 # Seafloor depth:-1046.437470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1046.828319 meters looking forward 0.000000 meters along route # Maximum depth: 1046.828319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.828319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.835588; captureRadius = 10; duration = 128; initialDepth = 996.303982; finalDepth = 996.828319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.828319 # Seafloor depth:-1046.828319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1046.303982 meters looking forward 0.000000 meters along route # Maximum depth: 1046.303982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.303982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.834553; captureRadius = 10; duration = 128; initialDepth = 994.469604; finalDepth = 996.303982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.303982 # Seafloor depth:-1046.303982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1044.469604 meters looking forward 0.000000 meters along route # Maximum depth: 1044.469604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.469604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730907; longitude = -121.833469; captureRadius = 10; duration = 128; initialDepth = 994.430084; finalDepth = 994.469604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.469604 # Seafloor depth:-1044.469604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1044.430084 meters looking forward 0.000000 meters along route # Maximum depth: 1044.430084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.430084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730380; longitude = -121.832483; captureRadius = 10; duration = 128; initialDepth = 990.442787; finalDepth = 994.430084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.430084 # Seafloor depth:-1044.430084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1040.442787 meters looking forward 0.000000 meters along route # Maximum depth: 1040.442787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.442787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.831447; captureRadius = 10; duration = 128; initialDepth = 989.337753; finalDepth = 990.442787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.442787 # Seafloor depth:-1040.442787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1039.337753 meters looking forward 0.000000 meters along route # Maximum depth: 1039.337753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.337753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.830412; captureRadius = 10; duration = 128; initialDepth = 988.575356; finalDepth = 989.337753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.337753 # Seafloor depth:-1039.337753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1038.575356 meters looking forward 0.000000 meters along route # Maximum depth: 1038.575356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.575356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728693; longitude = -121.829323; captureRadius = 10; duration = 128; initialDepth = 983.296319; finalDepth = 988.575356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.575356 # Seafloor depth:-1038.575356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1033.296319 meters looking forward 0.000000 meters along route # Maximum depth: 1033.296319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.296319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728169; longitude = -121.828342; captureRadius = 10; duration = 128; initialDepth = 984.531343; finalDepth = 983.296319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.296319 # Seafloor depth:-1033.296319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1034.531343 meters looking forward 0.000000 meters along route # Maximum depth: 1034.531343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.531343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.827307; captureRadius = 10; duration = 128; initialDepth = 989.168776; finalDepth = 984.531343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.531343 # Seafloor depth:-1034.531343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1039.168776 meters looking forward 0.000000 meters along route # Maximum depth: 1039.168776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.168776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.826272; captureRadius = 10; duration = 128; initialDepth = 982.939045; finalDepth = 989.168776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.168776 # Seafloor depth:-1039.168776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1032.939045 meters looking forward 0.000000 meters along route # Maximum depth: 1032.939045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.939045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726479; longitude = -121.825177; captureRadius = 10; duration = 128; initialDepth = 979.653023; finalDepth = 982.939045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.939045 # Seafloor depth:-1032.939045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1029.653023 meters looking forward 0.000000 meters along route # Maximum depth: 1029.653023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.653023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.824201; captureRadius = 10; duration = 128; initialDepth = 982.541834; finalDepth = 979.653023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.653023 # Seafloor depth:-1029.653023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1032.541834 meters looking forward 0.000000 meters along route # Maximum depth: 1032.541834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.541834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725405; longitude = -121.823166; captureRadius = 10; duration = 128; initialDepth = 976.843332; finalDepth = 982.541834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.541834 # Seafloor depth:-1032.541834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1026.843332 meters looking forward 0.000000 meters along route # Maximum depth: 1026.843332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.843332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724852; longitude = -121.822131; captureRadius = 10; duration = 128; initialDepth = 978.489449; finalDepth = 976.843332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.843332 # Seafloor depth:-1026.843332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1028.489449 meters looking forward 0.000000 meters along route # Maximum depth: 1028.489449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.489449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724265; longitude = -121.821031; captureRadius = 10; duration = 128; initialDepth = 975.590229; finalDepth = 978.489449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.489449 # Seafloor depth:-1028.489449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1025.590229 meters looking forward 0.000000 meters along route # Maximum depth: 1025.590229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.590229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723746; longitude = -121.820061; captureRadius = 10; duration = 128; initialDepth = 978.192062; finalDepth = 975.590229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.590229 # Seafloor depth:-1025.590229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1028.192062 meters looking forward 0.000000 meters along route # Maximum depth: 1028.192062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.192062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723194; longitude = -121.819025; captureRadius = 10; duration = 128; initialDepth = 974.713460; finalDepth = 978.192062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.192062 # Seafloor depth:-1028.192062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1024.713460 meters looking forward 0.000000 meters along route # Maximum depth: 1024.713460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.713460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722641; longitude = -121.817990; captureRadius = 10; duration = 128; initialDepth = 973.667528; finalDepth = 974.713460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.71346 # Seafloor depth:-1024.713460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1023.667528 meters looking forward 0.000000 meters along route # Maximum depth: 1023.667528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.667528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722051; longitude = -121.816885; captureRadius = 10; duration = 128; initialDepth = 970.962563; finalDepth = 973.667528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.667528 # Seafloor depth:-1023.667528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1020.962563 meters looking forward 0.000000 meters along route # Maximum depth: 1020.962563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.962563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721535; longitude = -121.815920; captureRadius = 10; duration = 128; initialDepth = 970.432815; finalDepth = 970.962563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.962563 # Seafloor depth:-1020.962563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1020.432815 meters looking forward 0.000000 meters along route # Maximum depth: 1020.432815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.432815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720982; longitude = -121.814885; captureRadius = 10; duration = 128; initialDepth = 967.487280; finalDepth = 970.432815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.432815 # Seafloor depth:-1020.432815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1017.487280 meters looking forward 0.000000 meters along route # Maximum depth: 1017.487280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.487280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720427; longitude = -121.813844; captureRadius = 10; duration = 128; initialDepth = 968.786390; finalDepth = 967.487280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.48728 # Seafloor depth:-1017.487280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1018.786390 meters looking forward 0.000000 meters along route # Maximum depth: 1018.786390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.786390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719837; longitude = -121.812739; captureRadius = 10; duration = 128; initialDepth = 971.899615; finalDepth = 968.786390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.78639 # Seafloor depth:-1018.786390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1021.899615 meters looking forward 0.000000 meters along route # Maximum depth: 1021.899615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.899615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719324; longitude = -121.811779; captureRadius = 10; duration = 128; initialDepth = 972.302995; finalDepth = 971.899615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:971.899615 # Seafloor depth:-1021.899615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1022.302995 meters looking forward 0.000000 meters along route # Maximum depth: 1022.302995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.302995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718771; longitude = -121.810744; captureRadius = 10; duration = 128; initialDepth = 966.536681; finalDepth = 972.302995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.302995 # Seafloor depth:-1022.302995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1016.536681 meters looking forward 0.000000 meters along route # Maximum depth: 1016.536681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.536681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718213; longitude = -121.809698; captureRadius = 10; duration = 128; initialDepth = 963.156004; finalDepth = 966.536681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.536681 # Seafloor depth:-1016.536681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.156004 meters looking forward 0.000000 meters along route # Maximum depth: 1013.156004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.156004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717622; longitude = -121.808593; captureRadius = 10; duration = 128; initialDepth = 966.997052; finalDepth = 963.156004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.156004 # Seafloor depth:-1013.156004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1016.997052 meters looking forward 0.000000 meters along route # Maximum depth: 1016.997052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.997052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717113; longitude = -121.807638; captureRadius = 10; duration = 128; initialDepth = 963.399089; finalDepth = 966.997052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.997052 # Seafloor depth:-1016.997052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.399089 meters looking forward 0.000000 meters along route # Maximum depth: 1013.399089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.399089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716560; longitude = -121.806603; captureRadius = 10; duration = 128; initialDepth = 962.346926; finalDepth = 963.399089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.399089 # Seafloor depth:-1013.399089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1012.346926 meters looking forward 0.000000 meters along route # Maximum depth: 1012.346926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.346926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715999; longitude = -121.805552; captureRadius = 10; duration = 128; initialDepth = 963.179847; finalDepth = 962.346926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.346926 # Seafloor depth:-1012.346926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.179847 meters looking forward 0.000000 meters along route # Maximum depth: 1013.179847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.179847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715408; longitude = -121.804447; captureRadius = 10; duration = 128; initialDepth = 965.197251; finalDepth = 963.179847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.179847 # Seafloor depth:-1013.179847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1015.197251 meters looking forward 0.000000 meters along route # Maximum depth: 1015.197251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.197251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714902; longitude = -121.803498; captureRadius = 10; duration = 128; initialDepth = 958.402346; finalDepth = 965.197251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.197251 # Seafloor depth:-1015.197251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1008.402346 meters looking forward 0.000000 meters along route # Maximum depth: 1008.402346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.402346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714349; longitude = -121.802463; captureRadius = 10; duration = 128; initialDepth = 960.392419; finalDepth = 958.402346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:958.402346 # Seafloor depth:-1008.402346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1010.392419 meters looking forward 0.000000 meters along route # Maximum depth: 1010.392419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.392419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713785; longitude = -121.801406; captureRadius = 10; duration = 128; initialDepth = 959.173346; finalDepth = 960.392419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.392419 # Seafloor depth:-1010.392419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1009.173346 meters looking forward 0.000000 meters along route # Maximum depth: 1009.173346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.173346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713194; longitude = -121.800301; captureRadius = 10; duration = 128; initialDepth = 954.520445; finalDepth = 959.173346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:959.173346 # Seafloor depth:-1009.173346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1004.520445 meters looking forward 0.000000 meters along route # Maximum depth: 1004.520445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.520445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712690; longitude = -121.799357; captureRadius = 10; duration = 128; initialDepth = 952.020290; finalDepth = 954.520445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.520445 # Seafloor depth:-1004.520445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1002.020290 meters looking forward 0.000000 meters along route # Maximum depth: 1002.020290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.020290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712138; longitude = -121.798322; captureRadius = 10; duration = 128; initialDepth = 950.838675; finalDepth = 952.020290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.02029 # Seafloor depth:-1002.020290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1000.838675 meters looking forward 0.000000 meters along route # Maximum depth: 1000.838675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.838675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711571; longitude = -121.797260; captureRadius = 10; duration = 128; initialDepth = 951.828424; finalDepth = 950.838675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.838675 # Seafloor depth:-1000.838675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1001.828424 meters looking forward 0.000000 meters along route # Maximum depth: 1001.828424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.828424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710980; longitude = -121.796155; captureRadius = 10; duration = 128; initialDepth = 948.766458; finalDepth = 951.828424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.828424 # Seafloor depth:-1001.828424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 998.766458 meters looking forward 0.000000 meters along route # Maximum depth: 998.766458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.766458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710479; longitude = -121.795216; captureRadius = 10; duration = 128; initialDepth = 947.597168; finalDepth = 948.766458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.766458 # Seafloor depth:-998.766458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 997.597168 meters looking forward 0.000000 meters along route # Maximum depth: 997.597168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.597168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709926; longitude = -121.794181; captureRadius = 10; duration = 128; initialDepth = 949.338911; finalDepth = 947.597168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.597168 # Seafloor depth:-997.597168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 999.338911 meters looking forward 0.000000 meters along route # Maximum depth: 999.338911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.338911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709356; longitude = -121.793114; captureRadius = 10; duration = 128; initialDepth = 947.548067; finalDepth = 949.338911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.338911 # Seafloor depth:-999.338911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 997.548067 meters looking forward 0.000000 meters along route # Maximum depth: 997.548067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.548067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708766; longitude = -121.792009; captureRadius = 10; duration = 128; initialDepth = 943.007957; finalDepth = 947.548067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.548067 # Seafloor depth:-997.548067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 993.007957 meters looking forward 0.000000 meters along route # Maximum depth: 993.007957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.007957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708268; longitude = -121.791076; captureRadius = 10; duration = 128; initialDepth = 938.014500; finalDepth = 943.007957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.007957 # Seafloor depth:-993.007957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 988.014500 meters looking forward 0.000000 meters along route # Maximum depth: 988.014500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.014500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707715; longitude = -121.790041; captureRadius = 10; duration = 128; initialDepth = 941.792242; finalDepth = 938.014500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.0145 # Seafloor depth:-988.014500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 991.792242 meters looking forward 0.000000 meters along route # Maximum depth: 991.792242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.792242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707142; longitude = -121.788968; captureRadius = 10; duration = 128; initialDepth = 940.501269; finalDepth = 941.792242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.792242 # Seafloor depth:-991.792242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 990.501269 meters looking forward 0.000000 meters along route # Maximum depth: 990.501269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.501269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706552; longitude = -121.787862; captureRadius = 10; duration = 128; initialDepth = 937.276741; finalDepth = 940.501269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.501269 # Seafloor depth:-990.501269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 987.276741 meters looking forward 0.000000 meters along route # Maximum depth: 987.276741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.276741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706057; longitude = -121.786935; captureRadius = 10; duration = 128; initialDepth = 940.275710; finalDepth = 937.276741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.276741 # Seafloor depth:-987.276741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 990.275710 meters looking forward 0.000000 meters along route # Maximum depth: 990.275710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.275710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705504; longitude = -121.785900; captureRadius = 10; duration = 128; initialDepth = 934.623054; finalDepth = 940.275710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:940.27571 # Seafloor depth:-990.275710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 984.623054 meters looking forward 0.000000 meters along route # Maximum depth: 984.623054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.623054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704928; longitude = -121.784822; captureRadius = 10; duration = 128; initialDepth = 933.473669; finalDepth = 934.623054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.623054 # Seafloor depth:-984.623054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 983.473669 meters looking forward 0.000000 meters along route # Maximum depth: 983.473669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.473669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704398; longitude = -121.783829; captureRadius = 10; duration = 128; initialDepth = 932.119222; finalDepth = 933.473669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.473669 # Seafloor depth:-983.473669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 982.119222 meters looking forward 0.000000 meters along route # Maximum depth: 982.119222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.119222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703845; longitude = -121.782794; captureRadius = 10; duration = 128; initialDepth = 931.625940; finalDepth = 932.119222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.119222 # Seafloor depth:-982.119222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 981.625940 meters looking forward 0.000000 meters along route # Maximum depth: 981.625940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.625940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703293; longitude = -121.781759; captureRadius = 10; duration = 128; initialDepth = 934.934066; finalDepth = 931.625940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.62594 # Seafloor depth:-981.625940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 984.934066 meters looking forward 0.000000 meters along route # Maximum depth: 984.934066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.934066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702714; longitude = -121.780676; captureRadius = 10; duration = 128; initialDepth = 932.648913; finalDepth = 934.934066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.934066 # Seafloor depth:-984.934066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 982.648913 meters looking forward 0.000000 meters along route # Maximum depth: 982.648913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.648913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702187; longitude = -121.779689; captureRadius = 10; duration = 128; initialDepth = 929.107522; finalDepth = 932.648913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.648913 # Seafloor depth:-982.648913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 979.107522 meters looking forward 0.000000 meters along route # Maximum depth: 979.107522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.107522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701634; longitude = -121.778654; captureRadius = 10; duration = 128; initialDepth = 929.807859; finalDepth = 929.107522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.107522 # Seafloor depth:-979.107522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 979.807859 meters looking forward 0.000000 meters along route # Maximum depth: 979.807859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.807859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701081; longitude = -121.777618; captureRadius = 10; duration = 128; initialDepth = 926.246672; finalDepth = 929.807859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.807859 # Seafloor depth:-979.807859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 976.246672 meters looking forward 0.000000 meters along route # Maximum depth: 976.246672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.246672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700500; longitude = -121.776530; captureRadius = 10; duration = 128; initialDepth = 924.001183; finalDepth = 926.246672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.246672 # Seafloor depth:-976.246672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 974.001183 meters looking forward 0.000000 meters along route # Maximum depth: 974.001183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.001183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699910; longitude = -121.775424; captureRadius = 10; duration = 128; initialDepth = 923.630462; finalDepth = 924.001183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.001183 # Seafloor depth:-974.001183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 973.630462 meters looking forward 0.000000 meters along route # Maximum depth: 973.630462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.630462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699319; longitude = -121.774319; captureRadius = 10; duration = 128; initialDepth = 922.751790; finalDepth = 923.630462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.630462 # Seafloor depth:-973.630462 # 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 128.275157 meters # Minimum depth: 972.751790 meters looking forward 0.000000 meters along route # Maximum depth: 972.751790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.751790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698778; longitude = -121.773305; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 924.972577; finalDepth = 922.751790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.75179 # Seafloor depth:-972.751790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 974.972577 meters looking forward 0.000000 meters along route # Maximum depth: 974.972577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.972577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699147; longitude = -121.773009; captureRadius = 10; duration = 128; initialDepth = 924.142695; finalDepth = 924.972577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.972577 # Seafloor depth:-974.972577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 974.142695 meters looking forward 0.000000 meters along route # Maximum depth: 974.142695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.142695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699976; longitude = -121.772342; captureRadius = 10; duration = 128; initialDepth = 921.206932; finalDepth = 924.142695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.142695 # Seafloor depth:-974.142695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 971.206932 meters looking forward 0.000000 meters along route # Maximum depth: 971.206932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.206932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700805; longitude = -121.771675; captureRadius = 10; duration = 128; initialDepth = 921.680520; finalDepth = 921.206932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.206932 # Seafloor depth:-971.206932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 971.680520 meters looking forward 0.000000 meters along route # Maximum depth: 971.680520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.680520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701641; longitude = -121.771002; captureRadius = 10; duration = 128; initialDepth = 918.438481; finalDepth = 921.680520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.68052 # Seafloor depth:-971.680520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 968.438481 meters looking forward 0.000000 meters along route # Maximum depth: 968.438481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.438481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702463; longitude = -121.770340; captureRadius = 10; duration = 128; initialDepth = 920.854715; finalDepth = 918.438481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.438481 # Seafloor depth:-968.438481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 970.854715 meters looking forward 0.000000 meters along route # Maximum depth: 970.854715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.854715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703359; longitude = -121.769620; captureRadius = 10; duration = 128; initialDepth = 920.194931; finalDepth = 920.854715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.854715 # Seafloor depth:-970.854715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 970.194931 meters looking forward 0.000000 meters along route # Maximum depth: 970.194931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.194931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704122; longitude = -121.769006; captureRadius = 10; duration = 128; initialDepth = 918.677545; finalDepth = 920.194931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.194931 # Seafloor depth:-970.194931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 968.677545 meters looking forward 0.000000 meters along route # Maximum depth: 968.677545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.677545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704951; longitude = -121.768339; captureRadius = 10; duration = 128; initialDepth = 916.655041; finalDepth = 918.677545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.677545 # Seafloor depth:-968.677545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 966.655041 meters looking forward 0.000000 meters along route # Maximum depth: 966.655041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.655041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705780; longitude = -121.767672; captureRadius = 10; duration = 128; initialDepth = 916.967368; finalDepth = 916.655041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.655041 # Seafloor depth:-966.655041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 966.967368 meters looking forward 0.000000 meters along route # Maximum depth: 966.967368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.967368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706609; longitude = -121.767005; captureRadius = 10; duration = 128; initialDepth = 915.772062; finalDepth = 916.967368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.967368 # Seafloor depth:-966.967368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 965.772062 meters looking forward 0.000000 meters along route # Maximum depth: 965.772062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.772062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707482; longitude = -121.766303; captureRadius = 10; duration = 128; initialDepth = 915.114756; finalDepth = 915.772062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.772062 # Seafloor depth:-965.772062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 965.114756 meters looking forward 0.000000 meters along route # Maximum depth: 965.114756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.114756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708268; longitude = -121.765671; captureRadius = 10; duration = 128; initialDepth = 914.038483; finalDepth = 915.114756; 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:915.114756 # Seafloor depth:-965.114756 # 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 128.275157 meters # Minimum depth: 964.038483 meters looking forward 0.000000 meters along route # Maximum depth: 964.038483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.038483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709032; longitude = -121.765056; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 914.407339; finalDepth = 914.038483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.038483 # Seafloor depth:-964.038483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 964.407339 meters looking forward 0.000000 meters along route # Maximum depth: 964.407339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.407339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709107; longitude = -121.765197; captureRadius = 10; duration = 128; initialDepth = 917.149745; finalDepth = 914.407339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.407339 # Seafloor depth:-964.407339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 967.149745 meters looking forward 0.000000 meters along route # Maximum depth: 967.149745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.149745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709696; longitude = -121.766303; captureRadius = 10; duration = 128; initialDepth = 918.126635; finalDepth = 917.149745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.149745 # Seafloor depth:-967.149745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 968.126635 meters looking forward 0.000000 meters along route # Maximum depth: 968.126635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.126635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710203; longitude = -121.767253; captureRadius = 10; duration = 128; initialDepth = 918.322592; finalDepth = 918.126635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.126635 # Seafloor depth:-968.126635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 968.322592 meters looking forward 0.000000 meters along route # Maximum depth: 968.322592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.322592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710756; longitude = -121.768290; captureRadius = 10; duration = 128; initialDepth = 921.141210; finalDepth = 918.322592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.322592 # Seafloor depth:-968.322592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 971.141210 meters looking forward 0.000000 meters along route # Maximum depth: 971.141210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.141210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711317; longitude = -121.769343; captureRadius = 10; duration = 128; initialDepth = 919.957855; finalDepth = 921.141210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.14121 # Seafloor depth:-971.141210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 969.957855 meters looking forward 0.000000 meters along route # Maximum depth: 969.957855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.957855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711906; longitude = -121.770449; captureRadius = 10; duration = 128; initialDepth = 922.187504; finalDepth = 919.957855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.957855 # Seafloor depth:-969.957855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 972.187504 meters looking forward 0.000000 meters along route # Maximum depth: 972.187504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.187504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712414; longitude = -121.771402; captureRadius = 10; duration = 128; initialDepth = 923.563162; finalDepth = 922.187504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.187504 # Seafloor depth:-972.187504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 973.563162 meters looking forward 0.000000 meters along route # Maximum depth: 973.563162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.563162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712967; longitude = -121.772439; captureRadius = 10; duration = 128; initialDepth = 922.097894; finalDepth = 923.563162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.563162 # Seafloor depth:-973.563162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 972.097894 meters looking forward 0.000000 meters along route # Maximum depth: 972.097894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.097894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713527; longitude = -121.773489; captureRadius = 10; duration = 128; initialDepth = 929.288637; finalDepth = 922.097894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.097894 # Seafloor depth:-972.097894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 979.288637 meters looking forward 0.000000 meters along route # Maximum depth: 979.288637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.288637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714116; longitude = -121.774595; captureRadius = 10; duration = 128; initialDepth = 927.132903; finalDepth = 929.288637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.288637 # Seafloor depth:-979.288637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 977.132903 meters looking forward 0.000000 meters along route # Maximum depth: 977.132903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.132903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714625; longitude = -121.775550; captureRadius = 10; duration = 128; initialDepth = 927.580131; finalDepth = 927.132903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.132903 # Seafloor depth:-977.132903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 977.580131 meters looking forward 0.000000 meters along route # Maximum depth: 977.580131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.580131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715178; longitude = -121.776588; captureRadius = 10; duration = 128; initialDepth = 927.226960; finalDepth = 927.580131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.580131 # Seafloor depth:-977.580131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 977.226960 meters looking forward 0.000000 meters along route # Maximum depth: 977.226960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.226960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715737; longitude = -121.777636; captureRadius = 10; duration = 128; initialDepth = 930.509197; finalDepth = 927.226960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.22696 # Seafloor depth:-977.226960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 980.509197 meters looking forward 0.000000 meters along route # Maximum depth: 980.509197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.509197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716326; longitude = -121.778741; captureRadius = 10; duration = 128; initialDepth = 934.384043; finalDepth = 930.509197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.509197 # Seafloor depth:-980.509197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 984.384043 meters looking forward 0.000000 meters along route # Maximum depth: 984.384043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.384043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716836; longitude = -121.779699; captureRadius = 10; duration = 128; initialDepth = 932.684541; finalDepth = 934.384043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.384043 # Seafloor depth:-984.384043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 982.684541 meters looking forward 0.000000 meters along route # Maximum depth: 982.684541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.684541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717389; longitude = -121.780736; captureRadius = 10; duration = 128; initialDepth = 937.111484; finalDepth = 932.684541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.684541 # Seafloor depth:-982.684541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 987.111484 meters looking forward 0.000000 meters along route # Maximum depth: 987.111484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.111484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717946; longitude = -121.781782; captureRadius = 10; duration = 128; initialDepth = 939.526487; finalDepth = 937.111484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.111484 # Seafloor depth:-987.111484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 989.526487 meters looking forward 0.000000 meters along route # Maximum depth: 989.526487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.526487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718536; longitude = -121.782887; captureRadius = 10; duration = 128; initialDepth = 939.841830; finalDepth = 939.526487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.526487 # Seafloor depth:-989.526487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 989.841830 meters looking forward 0.000000 meters along route # Maximum depth: 989.841830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.841830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719048; longitude = -121.783848; captureRadius = 10; duration = 128; initialDepth = 939.704445; finalDepth = 939.841830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.84183 # Seafloor depth:-989.841830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 989.704445 meters looking forward 0.000000 meters along route # Maximum depth: 989.704445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.704445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -121.784885; captureRadius = 10; duration = 128; initialDepth = 945.408583; finalDepth = 939.704445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:939.704445 # Seafloor depth:-989.704445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 995.408583 meters looking forward 0.000000 meters along route # Maximum depth: 995.408583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.408583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720156; longitude = -121.785928; captureRadius = 10; duration = 128; initialDepth = 945.750445; finalDepth = 945.408583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.408583 # Seafloor depth:-995.408583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 995.750445 meters looking forward 0.000000 meters along route # Maximum depth: 995.750445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.750445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720745; longitude = -121.787033; captureRadius = 10; duration = 128; initialDepth = 948.241332; finalDepth = 945.750445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.750445 # Seafloor depth:-995.750445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 998.241332 meters looking forward 0.000000 meters along route # Maximum depth: 998.241332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.241332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721259; longitude = -121.787997; captureRadius = 10; duration = 128; initialDepth = 950.456678; finalDepth = 948.241332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.241332 # Seafloor depth:-998.241332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1000.456678 meters looking forward 0.000000 meters along route # Maximum depth: 1000.456678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.456678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721812; longitude = -121.789034; captureRadius = 10; duration = 128; initialDepth = 948.133241; finalDepth = 950.456678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.456678 # Seafloor depth:-1000.456678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 998.133241 meters looking forward 0.000000 meters along route # Maximum depth: 998.133241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.133241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722366; longitude = -121.790074; captureRadius = 10; duration = 128; initialDepth = 947.995428; finalDepth = 948.133241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:948.133241 # Seafloor depth:-998.133241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 997.995428 meters looking forward 0.000000 meters along route # Maximum depth: 997.995428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.995428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722955; longitude = -121.791179; captureRadius = 10; duration = 128; initialDepth = 949.353073; finalDepth = 947.995428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.995428 # Seafloor depth:-997.995428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 999.353073 meters looking forward 0.000000 meters along route # Maximum depth: 999.353073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.353073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723470; longitude = -121.792145; captureRadius = 10; duration = 128; initialDepth = 953.109445; finalDepth = 949.353073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.353073 # Seafloor depth:-999.353073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1003.109445 meters looking forward 0.000000 meters along route # Maximum depth: 1003.109445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.109445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724023; longitude = -121.793183; captureRadius = 10; duration = 128; initialDepth = 954.101319; finalDepth = 953.109445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.109445 # Seafloor depth:-1003.109445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1004.101319 meters looking forward 0.000000 meters along route # Maximum depth: 1004.101319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.101319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724576; longitude = -121.794220; captureRadius = 10; duration = 128; initialDepth = 950.808452; finalDepth = 954.101319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.101319 # Seafloor depth:-1004.101319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1000.808452 meters looking forward 0.000000 meters along route # Maximum depth: 1000.808452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.808452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725165; longitude = -121.795325; captureRadius = 10; duration = 128; initialDepth = 952.902545; finalDepth = 950.808452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:950.808452 # Seafloor depth:-1000.808452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1002.902545 meters looking forward 0.000000 meters along route # Maximum depth: 1002.902545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.902545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725681; longitude = -121.796294; captureRadius = 10; duration = 128; initialDepth = 954.435026; finalDepth = 952.902545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.902545 # Seafloor depth:-1002.902545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1004.435026 meters looking forward 0.000000 meters along route # Maximum depth: 1004.435026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.435026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726234; longitude = -121.797331; captureRadius = 10; duration = 128; initialDepth = 955.569817; finalDepth = 954.435026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.435026 # Seafloor depth:-1004.435026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1005.569817 meters looking forward 0.000000 meters along route # Maximum depth: 1005.569817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.569817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726787; longitude = -121.798369; captureRadius = 10; duration = 128; initialDepth = 956.665234; finalDepth = 955.569817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:955.569817 # Seafloor depth:-1005.569817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1006.665234 meters looking forward 0.000000 meters along route # Maximum depth: 1006.665234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.665234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727375; longitude = -121.799471; captureRadius = 10; duration = 128; initialDepth = 958.873078; finalDepth = 956.665234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.665234 # Seafloor depth:-1006.665234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1008.873078 meters looking forward 0.000000 meters along route # Maximum depth: 1008.873078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.873078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727893; longitude = -121.800443; captureRadius = 10; duration = 128; initialDepth = 960.714182; finalDepth = 958.873078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:958.873078 # Seafloor depth:-1008.873078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1010.714182 meters looking forward 0.000000 meters along route # Maximum depth: 1010.714182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.714182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.801480; captureRadius = 10; duration = 128; initialDepth = 963.048139; finalDepth = 960.714182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.714182 # Seafloor depth:-1010.714182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.048139 meters looking forward 0.000000 meters along route # Maximum depth: 1013.048139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.048139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728998; longitude = -121.802517; captureRadius = 10; duration = 128; initialDepth = 963.497689; finalDepth = 963.048139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.048139 # Seafloor depth:-1013.048139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.497689 meters looking forward 0.000000 meters along route # Maximum depth: 1013.497689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.497689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729584; longitude = -121.803617; captureRadius = 10; duration = 128; initialDepth = 963.214060; finalDepth = 963.497689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.497689 # Seafloor depth:-1013.497689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.214060 meters looking forward 0.000000 meters along route # Maximum depth: 1013.214060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.214060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.804592; captureRadius = 10; duration = 128; initialDepth = 963.718965; finalDepth = 963.214060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.21406 # Seafloor depth:-1013.214060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.718965 meters looking forward 0.000000 meters along route # Maximum depth: 1013.718965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.718965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730657; longitude = -121.805629; captureRadius = 10; duration = 128; initialDepth = 964.783328; finalDepth = 963.718965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.718965 # Seafloor depth:-1013.718965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1014.783328 meters looking forward 0.000000 meters along route # Maximum depth: 1014.783328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.783328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731209; longitude = -121.806666; captureRadius = 10; duration = 128; initialDepth = 968.253061; finalDepth = 964.783328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:964.783328 # Seafloor depth:-1014.783328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1018.253061 meters looking forward 0.000000 meters along route # Maximum depth: 1018.253061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.253061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731794; longitude = -121.807764; captureRadius = 10; duration = 128; initialDepth = 968.155001; finalDepth = 968.253061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.253061 # Seafloor depth:-1018.253061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1018.155001 meters looking forward 0.000000 meters along route # Maximum depth: 1018.155001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.155001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732315; longitude = -121.808741; captureRadius = 10; duration = 128; initialDepth = 973.506061; finalDepth = 968.155001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.155001 # Seafloor depth:-1018.155001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1023.506061 meters looking forward 0.000000 meters along route # Maximum depth: 1023.506061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.506061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732868; longitude = -121.809778; captureRadius = 10; duration = 128; initialDepth = 970.614207; finalDepth = 973.506061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.506061 # Seafloor depth:-1023.506061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1020.614207 meters looking forward 0.000000 meters along route # Maximum depth: 1020.614207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.614207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733421; longitude = -121.810815; captureRadius = 10; duration = 128; initialDepth = 970.114252; finalDepth = 970.614207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.614207 # Seafloor depth:-1020.614207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1020.114252 meters looking forward 0.000000 meters along route # Maximum depth: 1020.114252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.114252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734004; longitude = -121.811910; captureRadius = 10; duration = 128; initialDepth = 973.267099; finalDepth = 970.114252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.114252 # Seafloor depth:-1020.114252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1023.267099 meters looking forward 0.000000 meters along route # Maximum depth: 1023.267099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.267099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734526; longitude = -121.812889; captureRadius = 10; duration = 128; initialDepth = 978.074713; finalDepth = 973.267099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.267099 # Seafloor depth:-1023.267099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1028.074713 meters looking forward 0.000000 meters along route # Maximum depth: 1028.074713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.074713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735079; longitude = -121.813927; captureRadius = 10; duration = 128; initialDepth = 978.289811; finalDepth = 978.074713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.074713 # Seafloor depth:-1028.074713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1028.289811 meters looking forward 0.000000 meters along route # Maximum depth: 1028.289811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.289811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735632; longitude = -121.814964; captureRadius = 10; duration = 128; initialDepth = 980.395591; finalDepth = 978.289811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.289811 # Seafloor depth:-1028.289811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1030.395591 meters looking forward 0.000000 meters along route # Maximum depth: 1030.395591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.395591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736214; longitude = -121.816056; captureRadius = 10; duration = 128; initialDepth = 980.355554; finalDepth = 980.395591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.395591 # Seafloor depth:-1030.395591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1030.355554 meters looking forward 0.000000 meters along route # Maximum depth: 1030.355554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.355554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.817038; captureRadius = 10; duration = 128; initialDepth = 986.490307; finalDepth = 980.355554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.355554 # Seafloor depth:-1030.355554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1036.490307 meters looking forward 0.000000 meters along route # Maximum depth: 1036.490307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.490307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.818075; captureRadius = 10; duration = 128; initialDepth = 982.817928; finalDepth = 986.490307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.490307 # Seafloor depth:-1036.490307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1032.817928 meters looking forward 0.000000 meters along route # Maximum depth: 1032.817928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.817928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737843; longitude = -121.819112; captureRadius = 10; duration = 128; initialDepth = 982.962804; finalDepth = 982.817928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.817928 # Seafloor depth:-1032.817928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1032.962804 meters looking forward 0.000000 meters along route # Maximum depth: 1032.962804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.962804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738424; longitude = -121.820202; captureRadius = 10; duration = 128; initialDepth = 984.315653; finalDepth = 982.962804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.962804 # Seafloor depth:-1032.962804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1034.315653 meters looking forward 0.000000 meters along route # Maximum depth: 1034.315653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.315653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738949; longitude = -121.821187; captureRadius = 10; duration = 128; initialDepth = 986.066056; finalDepth = 984.315653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.315653 # Seafloor depth:-1034.315653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1036.066056 meters looking forward 0.000000 meters along route # Maximum depth: 1036.066056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.066056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.822224; captureRadius = 10; duration = 128; initialDepth = 987.305403; finalDepth = 986.066056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.066056 # Seafloor depth:-1036.066056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1037.305403 meters looking forward 0.000000 meters along route # Maximum depth: 1037.305403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.305403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.823261; captureRadius = 10; duration = 128; initialDepth = 991.660259; finalDepth = 987.305403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.305403 # Seafloor depth:-1037.305403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1041.660259 meters looking forward 0.000000 meters along route # Maximum depth: 1041.660259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.660259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740633; longitude = -121.824348; captureRadius = 10; duration = 128; initialDepth = 989.750169; finalDepth = 991.660259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.660259 # Seafloor depth:-1041.660259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1039.750169 meters looking forward 0.000000 meters along route # Maximum depth: 1039.750169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.750169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741160; longitude = -121.825336; captureRadius = 10; duration = 128; initialDepth = 992.819108; finalDepth = 989.750169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.750169 # Seafloor depth:-1039.750169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1042.819108 meters looking forward 0.000000 meters along route # Maximum depth: 1042.819108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.819108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741713; longitude = -121.826373; captureRadius = 10; duration = 128; initialDepth = 993.884821; finalDepth = 992.819108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.819108 # Seafloor depth:-1042.819108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1043.884821 meters looking forward 0.000000 meters along route # Maximum depth: 1043.884821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.884821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.827410; captureRadius = 10; duration = 128; initialDepth = 995.996264; finalDepth = 993.884821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.884821 # Seafloor depth:-1043.884821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1045.996264 meters looking forward 0.000000 meters along route # Maximum depth: 1045.996264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.996264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742843; longitude = -121.828494; captureRadius = 10; duration = 128; initialDepth = 995.371871; finalDepth = 995.996264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.996264 # Seafloor depth:-1045.996264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1045.371871 meters looking forward 0.000000 meters along route # Maximum depth: 1045.371871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.371871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.829484; captureRadius = 10; duration = 128; initialDepth = 997.035946; finalDepth = 995.371871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.371871 # Seafloor depth:-1045.371871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1047.035946 meters looking forward 0.000000 meters along route # Maximum depth: 1047.035946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.035946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.830522; captureRadius = 10; duration = 128; initialDepth = 999.297368; finalDepth = 997.035946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:997.035946 # Seafloor depth:-1047.035946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1049.297368 meters looking forward 0.000000 meters along route # Maximum depth: 1049.297368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.297368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.831559; captureRadius = 10; duration = 128; initialDepth = 999.917158; finalDepth = 999.297368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.297368 # Seafloor depth:-1049.297368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1049.917158 meters looking forward 0.000000 meters along route # Maximum depth: 1049.917158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.917158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745053; longitude = -121.832640; captureRadius = 10; duration = 128; initialDepth = 998.936114; finalDepth = 999.917158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.917158 # Seafloor depth:-1049.917158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1048.936114 meters looking forward 0.000000 meters along route # Maximum depth: 1048.936114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.936114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.833633; captureRadius = 10; duration = 128; initialDepth = 1001.825943; finalDepth = 998.936114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:998.936114 # Seafloor depth:-1048.936114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1051.825943 meters looking forward 0.000000 meters along route # Maximum depth: 1051.825943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.825943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.834670; captureRadius = 10; duration = 128; initialDepth = 1004.684129; finalDepth = 1001.825943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.825943 # Seafloor depth:-1051.825943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1054.684129 meters looking forward 0.000000 meters along route # Maximum depth: 1054.684129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.684129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.835708; captureRadius = 10; duration = 128; initialDepth = 1006.304009; finalDepth = 1004.684129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.684129 # Seafloor depth:-1054.684129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1056.304009 meters looking forward 0.000000 meters along route # Maximum depth: 1056.304009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.304009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747263; longitude = -121.836786; captureRadius = 10; duration = 128; initialDepth = 1008.030261; finalDepth = 1006.304009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.304009 # Seafloor depth:-1056.304009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1058.030261 meters looking forward 0.000000 meters along route # Maximum depth: 1058.030261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.030261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747852; longitude = -121.837892; captureRadius = 10; duration = 128; initialDepth = 1007.893347; finalDepth = 1008.030261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.030261 # Seafloor depth:-1058.030261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1057.893347 meters looking forward 0.000000 meters along route # Maximum depth: 1057.893347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.893347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.838819; captureRadius = 10; duration = 128; initialDepth = 1007.004232; finalDepth = 1007.893347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.893347 # Seafloor depth:-1057.893347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1057.004232 meters looking forward 0.000000 meters along route # Maximum depth: 1057.004232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.004232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.839856; captureRadius = 10; duration = 128; initialDepth = 1010.492502; finalDepth = 1007.004232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.004232 # Seafloor depth:-1057.004232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1060.492502 meters looking forward 0.000000 meters along route # Maximum depth: 1060.492502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.492502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749473; longitude = -121.840932; captureRadius = 10; duration = 128; initialDepth = 1013.841691; finalDepth = 1010.492502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.492502 # Seafloor depth:-1060.492502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1063.841691 meters looking forward 0.000000 meters along route # Maximum depth: 1063.841691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.841691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750062; longitude = -121.842038; captureRadius = 10; duration = 128; initialDepth = 1018.821170; finalDepth = 1013.841691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.841691 # Seafloor depth:-1063.841691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1068.821170 meters looking forward 0.000000 meters along route # Maximum depth: 1068.821170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.821170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.842968; captureRadius = 10; duration = 128; initialDepth = 1018.758452; finalDepth = 1018.821170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.82117 # Seafloor depth:-1068.821170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1068.758452 meters looking forward 0.000000 meters along route # Maximum depth: 1068.758452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.758452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.844005; captureRadius = 10; duration = 128; initialDepth = 1022.040150; finalDepth = 1018.758452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.758452 # Seafloor depth:-1068.758452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1072.040150 meters looking forward 0.000000 meters along route # Maximum depth: 1072.040150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.040150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751682; longitude = -121.845078; captureRadius = 10; duration = 128; initialDepth = 1020.978934; finalDepth = 1022.040150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.04015 # Seafloor depth:-1072.040150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1070.978934 meters looking forward 0.000000 meters along route # Maximum depth: 1070.978934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.978934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752272; longitude = -121.846184; captureRadius = 10; duration = 128; initialDepth = 1020.744653; finalDepth = 1020.978934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.978934 # Seafloor depth:-1070.978934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1070.744653 meters looking forward 0.000000 meters along route # Maximum depth: 1070.744653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.744653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.847117; captureRadius = 10; duration = 128; initialDepth = 1025.911362; finalDepth = 1020.744653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.744653 # Seafloor depth:-1070.744653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1075.911362 meters looking forward 0.000000 meters along route # Maximum depth: 1075.911362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.911362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.848154; captureRadius = 10; duration = 128; initialDepth = 1028.341165; finalDepth = 1025.911362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.911362 # Seafloor depth:-1075.911362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1078.341165 meters looking forward 0.000000 meters along route # Maximum depth: 1078.341165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.341165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753892; longitude = -121.849224; captureRadius = 10; duration = 128; initialDepth = 1034.098934; finalDepth = 1028.341165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.341165 # Seafloor depth:-1078.341165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1084.098934 meters looking forward 0.000000 meters along route # Maximum depth: 1084.098934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.098934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754481; longitude = -121.850330; captureRadius = 10; duration = 128; initialDepth = 1032.287096; finalDepth = 1034.098934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.098934 # Seafloor depth:-1084.098934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1082.287096 meters looking forward 0.000000 meters along route # Maximum depth: 1082.287096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.287096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.851265; captureRadius = 10; duration = 128; initialDepth = 1035.604936; finalDepth = 1032.287096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.287096 # Seafloor depth:-1082.287096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1085.604936 meters looking forward 0.000000 meters along route # Maximum depth: 1085.604936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.604936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.852303; captureRadius = 10; duration = 128; initialDepth = 1038.340499; finalDepth = 1035.604936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.604936 # Seafloor depth:-1085.604936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1088.340499 meters looking forward 0.000000 meters along route # Maximum depth: 1088.340499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.340499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756102; longitude = -121.853370; captureRadius = 10; duration = 128; initialDepth = 1040.732955; finalDepth = 1038.340499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.340499 # Seafloor depth:-1088.340499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1090.732955 meters looking forward 0.000000 meters along route # Maximum depth: 1090.732955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.732955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756691; longitude = -121.854476; captureRadius = 10; duration = 128; initialDepth = 1046.547435; finalDepth = 1040.732955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.732955 # Seafloor depth:-1090.732955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1096.547435 meters looking forward 0.000000 meters along route # Maximum depth: 1096.547435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.547435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.855414; captureRadius = 10; duration = 128; initialDepth = 1045.759863; finalDepth = 1046.547435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.547435 # Seafloor depth:-1096.547435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1095.759863 meters looking forward 0.000000 meters along route # Maximum depth: 1095.759863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.759863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.856451; captureRadius = 10; duration = 128; initialDepth = 1045.471238; finalDepth = 1045.759863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.759863 # Seafloor depth:-1095.759863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1095.471238 meters looking forward 0.000000 meters along route # Maximum depth: 1095.471238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.471238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758312; longitude = -121.857516; captureRadius = 10; duration = 128; initialDepth = 1044.617087; finalDepth = 1045.471238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.471238 # Seafloor depth:-1095.471238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1094.617087 meters looking forward 0.000000 meters along route # Maximum depth: 1094.617087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.617087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758901; longitude = -121.858622; captureRadius = 10; duration = 128; initialDepth = 1044.894904; finalDepth = 1044.617087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.617087 # Seafloor depth:-1094.617087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1094.894904 meters looking forward 0.000000 meters along route # Maximum depth: 1094.894904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.894904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.859563; captureRadius = 10; duration = 128; initialDepth = 1047.735866; finalDepth = 1044.894904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.894904 # Seafloor depth:-1094.894904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1097.735866 meters looking forward 0.000000 meters along route # Maximum depth: 1097.735866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.735866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.860600; captureRadius = 10; duration = 128; initialDepth = 1049.130659; finalDepth = 1047.735866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.735866 # Seafloor depth:-1097.735866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1099.130659 meters looking forward 0.000000 meters along route # Maximum depth: 1099.130659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.130659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760521; longitude = -121.861662; captureRadius = 10; duration = 128; initialDepth = 1051.538792; finalDepth = 1049.130659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.130659 # Seafloor depth:-1099.130659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1101.538792 meters looking forward 0.000000 meters along route # Maximum depth: 1101.538792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.538792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761111; longitude = -121.862768; captureRadius = 10; duration = 128; initialDepth = 1053.515084; finalDepth = 1051.538792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.538792 # Seafloor depth:-1101.538792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1103.515084 meters looking forward 0.000000 meters along route # Maximum depth: 1103.515084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.515084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.863712; captureRadius = 10; duration = 128; initialDepth = 1056.759229; finalDepth = 1053.515084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.515084 # Seafloor depth:-1103.515084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1106.759229 meters looking forward 0.000000 meters along route # Maximum depth: 1106.759229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.759229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.864749; captureRadius = 10; duration = 128; initialDepth = 1055.768285; finalDepth = 1056.759229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.759229 # Seafloor depth:-1106.759229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1105.768285 meters looking forward 0.000000 meters along route # Maximum depth: 1105.768285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.768285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762731; longitude = -121.865808; captureRadius = 10; duration = 128; initialDepth = 1061.761716; finalDepth = 1055.768285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.768285 # Seafloor depth:-1105.768285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1111.761716 meters looking forward 0.000000 meters along route # Maximum depth: 1111.761716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.761716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763321; longitude = -121.866914; captureRadius = 10; duration = 128; initialDepth = 1064.415651; finalDepth = 1061.761716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.761716 # Seafloor depth:-1111.761716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1114.415651 meters looking forward 0.000000 meters along route # Maximum depth: 1114.415651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.415651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.867861; captureRadius = 10; duration = 128; initialDepth = 1067.775214; finalDepth = 1064.415651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.415651 # Seafloor depth:-1114.415651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1117.775214 meters looking forward 0.000000 meters along route # Maximum depth: 1117.775214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.775214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.868898; captureRadius = 10; duration = 128; initialDepth = 1069.347968; finalDepth = 1067.775214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.775214 # Seafloor depth:-1117.775214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1119.347968 meters looking forward 0.000000 meters along route # Maximum depth: 1119.347968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.347968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764941; longitude = -121.869954; captureRadius = 10; duration = 128; initialDepth = 1072.758730; finalDepth = 1069.347968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.347968 # Seafloor depth:-1119.347968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1122.758730 meters looking forward 0.000000 meters along route # Maximum depth: 1122.758730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.758730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765530; longitude = -121.871060; captureRadius = 10; duration = 128; initialDepth = 1073.180493; finalDepth = 1072.758730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1072.75873 # Seafloor depth:-1122.758730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1123.180493 meters looking forward 0.000000 meters along route # Maximum depth: 1123.180493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.180493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.872009; captureRadius = 10; duration = 128; initialDepth = 1076.066555; finalDepth = 1073.180493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.180493 # Seafloor depth:-1123.180493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1126.066555 meters looking forward 0.000000 meters along route # Maximum depth: 1126.066555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.066555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.873047; captureRadius = 10; duration = 128; initialDepth = 1079.558710; finalDepth = 1076.066555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.066555 # Seafloor depth:-1126.066555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1129.558710 meters looking forward 0.000000 meters along route # Maximum depth: 1129.558710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.558710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767151; longitude = -121.874100; captureRadius = 10; duration = 128; initialDepth = 1079.579283; finalDepth = 1079.558710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.55871 # Seafloor depth:-1129.558710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1129.579283 meters looking forward 0.000000 meters along route # Maximum depth: 1129.579283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.579283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767740; longitude = -121.875206; captureRadius = 10; duration = 128; initialDepth = 1082.274807; finalDepth = 1079.579283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.579283 # Seafloor depth:-1129.579283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1132.274807 meters looking forward 0.000000 meters along route # Maximum depth: 1132.274807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.274807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.876158; captureRadius = 10; duration = 128; initialDepth = 1084.563924; finalDepth = 1082.274807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.274807 # Seafloor depth:-1132.274807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1134.563924 meters looking forward 0.000000 meters along route # Maximum depth: 1134.563924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.563924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.877195; captureRadius = 10; duration = 128; initialDepth = 1089.073757; finalDepth = 1084.563924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.563924 # Seafloor depth:-1134.563924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.073757 meters looking forward 0.000000 meters along route # Maximum depth: 1139.073757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.073757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769361; longitude = -121.878247; captureRadius = 10; duration = 128; initialDepth = 1092.191284; finalDepth = 1089.073757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.073757 # Seafloor depth:-1139.073757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1142.191284 meters looking forward 0.000000 meters along route # Maximum depth: 1142.191284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.191284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769950; longitude = -121.879352; captureRadius = 10; duration = 128; initialDepth = 1090.610284; finalDepth = 1092.191284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.191284 # Seafloor depth:-1142.191284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1140.610284 meters looking forward 0.000000 meters along route # Maximum depth: 1140.610284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.610284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.880307; captureRadius = 10; duration = 128; initialDepth = 1089.981935; finalDepth = 1090.610284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.610284 # Seafloor depth:-1140.610284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.981935 meters looking forward 0.000000 meters along route # Maximum depth: 1139.981935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.981935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.881344; captureRadius = 10; duration = 128; initialDepth = 1092.364045; finalDepth = 1089.981935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.981935 # Seafloor depth:-1139.981935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1142.364045 meters looking forward 0.000000 meters along route # Maximum depth: 1142.364045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.364045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771570; longitude = -121.882393; captureRadius = 10; duration = 128; initialDepth = 1094.642777; finalDepth = 1092.364045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.364045 # Seafloor depth:-1142.364045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1144.642777 meters looking forward 0.000000 meters along route # Maximum depth: 1144.642777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.642777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772160; longitude = -121.883498; captureRadius = 10; duration = 128; initialDepth = 1096.209900; finalDepth = 1094.642777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.642777 # Seafloor depth:-1144.642777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1146.209900 meters looking forward 0.000000 meters along route # Maximum depth: 1146.209900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.209900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.884456; captureRadius = 10; duration = 128; initialDepth = 1100.807073; finalDepth = 1096.209900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.2099 # Seafloor depth:-1146.209900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1150.807073 meters looking forward 0.000000 meters along route # Maximum depth: 1150.807073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.807073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.885493; captureRadius = 10; duration = 128; initialDepth = 1103.850082; finalDepth = 1100.807073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.807073 # Seafloor depth:-1150.807073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.850082 meters looking forward 0.000000 meters along route # Maximum depth: 1153.850082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.850082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773780; longitude = -121.886539; captureRadius = 10; duration = 128; initialDepth = 1108.686273; finalDepth = 1103.850082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.850082 # Seafloor depth:-1153.850082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1158.686273 meters looking forward 0.000000 meters along route # Maximum depth: 1158.686273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.686273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774369; longitude = -121.887644; captureRadius = 10; duration = 128; initialDepth = 1110.185139; finalDepth = 1108.686273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.686273 # Seafloor depth:-1158.686273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1160.185139 meters looking forward 0.000000 meters along route # Maximum depth: 1160.185139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.185139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.888604; captureRadius = 10; duration = 128; initialDepth = 1111.471656; finalDepth = 1110.185139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.185139 # Seafloor depth:-1160.185139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1161.471656 meters looking forward 0.000000 meters along route # Maximum depth: 1161.471656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.471656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.889642; captureRadius = 10; duration = 128; initialDepth = 1112.456266; finalDepth = 1111.471656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.471656 # Seafloor depth:-1161.471656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1162.456266 meters looking forward 0.000000 meters along route # Maximum depth: 1162.456266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.456266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775990; longitude = -121.890685; captureRadius = 10; duration = 128; initialDepth = 1112.342061; finalDepth = 1112.456266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.456266 # Seafloor depth:-1162.456266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1162.342061 meters looking forward 0.000000 meters along route # Maximum depth: 1162.342061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.342061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776579; longitude = -121.891790; captureRadius = 10; duration = 128; initialDepth = 1114.093630; finalDepth = 1112.342061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.342061 # Seafloor depth:-1162.342061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1164.093630 meters looking forward 0.000000 meters along route # Maximum depth: 1164.093630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.093630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.892753; captureRadius = 10; duration = 128; initialDepth = 1115.056599; finalDepth = 1114.093630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1114.09363 # Seafloor depth:-1164.093630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1165.056599 meters looking forward 0.000000 meters along route # Maximum depth: 1165.056599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.056599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.893790; captureRadius = 10; duration = 128; initialDepth = 1112.201753; finalDepth = 1115.056599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.056599 # Seafloor depth:-1165.056599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1162.201753 meters looking forward 0.000000 meters along route # Maximum depth: 1162.201753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.201753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778200; longitude = -121.894831; captureRadius = 10; duration = 128; initialDepth = 1107.185020; finalDepth = 1112.201753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.201753 # Seafloor depth:-1162.201753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1157.185020 meters looking forward 0.000000 meters along route # Maximum depth: 1157.185020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.185020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778789; longitude = -121.895936; captureRadius = 10; duration = 128; initialDepth = 1103.195485; finalDepth = 1107.185020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.18502 # Seafloor depth:-1157.185020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1153.195485 meters looking forward 0.000000 meters along route # Maximum depth: 1153.195485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.195485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.896902; captureRadius = 10; duration = 128; initialDepth = 1097.500223; finalDepth = 1103.195485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1103.195485 # Seafloor depth:-1153.195485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1147.500223 meters looking forward 0.000000 meters along route # Maximum depth: 1147.500223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.500223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.897939; captureRadius = 10; duration = 128; initialDepth = 1092.375574; finalDepth = 1097.500223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.500223 # Seafloor depth:-1147.500223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1142.375574 meters looking forward 0.000000 meters along route # Maximum depth: 1142.375574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.375574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780410; longitude = -121.898977; captureRadius = 10; duration = 128; initialDepth = 1089.069496; finalDepth = 1092.375574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1092.375574 # Seafloor depth:-1142.375574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.069496 meters looking forward 0.000000 meters along route # Maximum depth: 1139.069496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.069496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780999; longitude = -121.900082; captureRadius = 10; duration = 128; initialDepth = 1086.766476; finalDepth = 1089.069496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.069496 # Seafloor depth:-1139.069496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1136.766476 meters looking forward 0.000000 meters along route # Maximum depth: 1136.766476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.766476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.901051; captureRadius = 10; duration = 128; initialDepth = 1086.342363; finalDepth = 1086.766476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.766476 # Seafloor depth:-1136.766476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1136.342363 meters looking forward 0.000000 meters along route # Maximum depth: 1136.342363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.342363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.902088; captureRadius = 10; duration = 128; initialDepth = 1086.691250; finalDepth = 1086.342363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.342363 # Seafloor depth:-1136.342363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1136.691250 meters looking forward 0.000000 meters along route # Maximum depth: 1136.691250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.691250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.903125; captureRadius = 10; duration = 128; initialDepth = 1085.430181; finalDepth = 1086.691250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.69125 # Seafloor depth:-1136.691250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1135.430181 meters looking forward 0.000000 meters along route # Maximum depth: 1135.430181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.430181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783209; longitude = -121.904228; captureRadius = 10; duration = 128; initialDepth = 1087.875202; finalDepth = 1085.430181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.430181 # Seafloor depth:-1135.430181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1137.875202 meters looking forward 0.000000 meters along route # Maximum depth: 1137.875202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.875202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.905200; captureRadius = 10; duration = 128; initialDepth = 1087.487081; finalDepth = 1087.875202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.875202 # Seafloor depth:-1137.875202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1137.487081 meters looking forward 0.000000 meters along route # Maximum depth: 1137.487081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.487081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.906237; captureRadius = 10; duration = 128; initialDepth = 1089.391663; finalDepth = 1087.487081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.487081 # Seafloor depth:-1137.487081 # 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 128.275157 meters # Minimum depth: 1139.391663 meters looking forward 0.000000 meters along route # Maximum depth: 1139.391663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.391663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784844; longitude = -121.907297; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 1089.230381; finalDepth = 1089.391663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.391663 # Seafloor depth:-1139.391663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.230381 meters looking forward 0.000000 meters along route # Maximum depth: 1139.230381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.230381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784880; longitude = -121.907269; captureRadius = 10; duration = 128; initialDepth = 1086.031238; finalDepth = 1089.230381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.230381 # Seafloor depth:-1139.230381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1136.031238 meters looking forward 0.000000 meters along route # Maximum depth: 1136.031238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.031238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.906643; captureRadius = 10; duration = 128; initialDepth = 1083.808099; finalDepth = 1086.031238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.031238 # Seafloor depth:-1136.031238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1133.808099 meters looking forward 0.000000 meters along route # Maximum depth: 1133.808099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.808099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.905978; captureRadius = 10; duration = 128; initialDepth = 1083.702522; finalDepth = 1083.808099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.808099 # Seafloor depth:-1133.808099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1133.702522 meters looking forward 0.000000 meters along route # Maximum depth: 1133.702522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.702522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.905314; captureRadius = 10; duration = 128; initialDepth = 1087.893423; finalDepth = 1083.702522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.702522 # Seafloor depth:-1133.702522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1137.893423 meters looking forward 0.000000 meters along route # Maximum depth: 1137.893423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.893423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.904650; captureRadius = 10; duration = 128; initialDepth = 1089.414575; finalDepth = 1087.893423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1087.893423 # Seafloor depth:-1137.893423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.414575 meters looking forward 0.000000 meters along route # Maximum depth: 1139.414575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.414575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789019; longitude = -121.903952; captureRadius = 10; duration = 128; initialDepth = 1094.275715; finalDepth = 1089.414575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.414575 # Seafloor depth:-1139.414575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1144.275715 meters looking forward 0.000000 meters along route # Maximum depth: 1144.275715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.275715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.903321; captureRadius = 10; duration = 128; initialDepth = 1095.348191; finalDepth = 1094.275715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.275715 # Seafloor depth:-1144.275715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1145.348191 meters looking forward 0.000000 meters along route # Maximum depth: 1145.348191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.348191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.902656; captureRadius = 10; duration = 128; initialDepth = 1098.232446; finalDepth = 1095.348191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.348191 # Seafloor depth:-1145.348191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1148.232446 meters looking forward 0.000000 meters along route # Maximum depth: 1148.232446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.232446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.901992; captureRadius = 10; duration = 128; initialDepth = 1107.175935; finalDepth = 1098.232446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.232446 # Seafloor depth:-1148.232446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1157.175935 meters looking forward 0.000000 meters along route # Maximum depth: 1157.175935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.175935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.901327; captureRadius = 10; duration = 128; initialDepth = 1110.193037; finalDepth = 1107.175935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.175935 # Seafloor depth:-1157.175935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1160.193037 meters looking forward 0.000000 meters along route # Maximum depth: 1160.193037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.193037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793158; longitude = -121.900635; captureRadius = 10; duration = 128; initialDepth = 1120.927389; finalDepth = 1110.193037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.193037 # Seafloor depth:-1160.193037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1170.927389 meters looking forward 0.000000 meters along route # Maximum depth: 1170.927389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.927389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.899998; captureRadius = 10; duration = 128; initialDepth = 1128.359179; finalDepth = 1120.927389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1120.927389 # Seafloor depth:-1170.927389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1178.359179 meters looking forward 0.000000 meters along route # Maximum depth: 1178.359179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.359179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.899334; captureRadius = 10; duration = 128; initialDepth = 1144.387167; finalDepth = 1128.359179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.359179 # Seafloor depth:-1178.359179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1194.387167 meters looking forward 0.000000 meters along route # Maximum depth: 1194.387167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.387167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.898669; captureRadius = 10; duration = 128; initialDepth = 1147.321127; finalDepth = 1144.387167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.387167 # Seafloor depth:-1194.387167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1197.321127 meters looking forward 0.000000 meters along route # Maximum depth: 1197.321127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.321127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.898005; captureRadius = 10; duration = 128; initialDepth = 1149.920019; finalDepth = 1147.321127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.321127 # Seafloor depth:-1197.321127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1199.920019 meters looking forward 0.000000 meters along route # Maximum depth: 1199.920019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.920019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797297; longitude = -121.897318; captureRadius = 10; duration = 128; initialDepth = 1147.845955; finalDepth = 1149.920019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1149.920019 # Seafloor depth:-1199.920019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1197.845955 meters looking forward 0.000000 meters along route # Maximum depth: 1197.845955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.845955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.896676; captureRadius = 10; duration = 128; initialDepth = 1146.511647; finalDepth = 1147.845955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1147.845955 # Seafloor depth:-1197.845955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1196.511647 meters looking forward 0.000000 meters along route # Maximum depth: 1196.511647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.511647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799022; longitude = -121.895936; captureRadius = 10; duration = 128; initialDepth = 1153.211975; finalDepth = 1146.511647; 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:1146.511647 # Seafloor depth:-1196.511647 # 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 128.275157 meters # Minimum depth: 1203.211975 meters looking forward 0.000000 meters along route # Maximum depth: 1203.211975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.211975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799942; longitude = -121.895199; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 1164.335097; finalDepth = 1153.211975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1153.211975 # Seafloor depth:-1203.211975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1214.335097 meters looking forward 0.000000 meters along route # Maximum depth: 1214.335097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.335097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799451; longitude = -121.894278; captureRadius = 10; duration = 128; initialDepth = 1167.912383; finalDepth = 1164.335097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1164.335097 # Seafloor depth:-1214.335097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1217.912383 meters looking forward 0.000000 meters along route # Maximum depth: 1217.912383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.912383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798928; longitude = -121.893298; captureRadius = 10; duration = 128; initialDepth = 1164.475549; finalDepth = 1167.912383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1167.912383 # Seafloor depth:-1217.912383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1214.475549 meters looking forward 0.000000 meters along route # Maximum depth: 1214.475549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.475549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.892261; captureRadius = 10; duration = 128; initialDepth = 1159.183057; finalDepth = 1164.475549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1164.475549 # Seafloor depth:-1214.475549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1209.183057 meters looking forward 0.000000 meters along route # Maximum depth: 1209.183057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.183057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.891224; captureRadius = 10; duration = 128; initialDepth = 1159.375700; finalDepth = 1159.183057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1159.183057 # Seafloor depth:-1209.183057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1209.375700 meters looking forward 0.000000 meters along route # Maximum depth: 1209.375700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.375700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797241; longitude = -121.890132; captureRadius = 10; duration = 128; initialDepth = 1158.784548; finalDepth = 1159.375700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1159.3757 # Seafloor depth:-1209.375700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1208.784548 meters looking forward 0.000000 meters along route # Maximum depth: 1208.784548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.784548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.889150; captureRadius = 10; duration = 128; initialDepth = 1144.481572; finalDepth = 1158.784548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1158.784548 # Seafloor depth:-1208.784548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1194.481572 meters looking forward 0.000000 meters along route # Maximum depth: 1194.481572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.481572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.888112; captureRadius = 10; duration = 128; initialDepth = 1141.905768; finalDepth = 1144.481572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.481572 # Seafloor depth:-1194.481572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1191.905768 meters looking forward 0.000000 meters along route # Maximum depth: 1191.905768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.905768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.887075; captureRadius = 10; duration = 128; initialDepth = 1133.458026; finalDepth = 1141.905768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1141.905768 # Seafloor depth:-1191.905768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1183.458026 meters looking forward 0.000000 meters along route # Maximum depth: 1183.458026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.458026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795031; longitude = -121.885986; captureRadius = 10; duration = 128; initialDepth = 1130.000012; finalDepth = 1133.458026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1133.458026 # Seafloor depth:-1183.458026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1180.000012 meters looking forward 0.000000 meters along route # Maximum depth: 1180.000012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.000012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.885001; captureRadius = 10; duration = 128; initialDepth = 1119.872141; finalDepth = 1130.000012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.000012 # Seafloor depth:-1180.000012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1169.872141 meters looking forward 0.000000 meters along route # Maximum depth: 1169.872141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.872141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.883964; captureRadius = 10; duration = 128; initialDepth = 1115.720218; finalDepth = 1119.872141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.872141 # Seafloor depth:-1169.872141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1165.720218 meters looking forward 0.000000 meters along route # Maximum depth: 1165.720218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.720218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.882927; captureRadius = 10; duration = 128; initialDepth = 1117.941498; finalDepth = 1115.720218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.720218 # Seafloor depth:-1165.720218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1167.941498 meters looking forward 0.000000 meters along route # Maximum depth: 1167.941498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.941498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792821; longitude = -121.881840; captureRadius = 10; duration = 128; initialDepth = 1117.116481; finalDepth = 1117.941498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.941498 # Seafloor depth:-1167.941498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1167.116481 meters looking forward 0.000000 meters along route # Maximum depth: 1167.116481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.116481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.880853; captureRadius = 10; duration = 128; initialDepth = 1119.952200; finalDepth = 1117.116481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1117.116481 # Seafloor depth:-1167.116481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1169.952200 meters looking forward 0.000000 meters along route # Maximum depth: 1169.952200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.952200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.879816; captureRadius = 10; duration = 128; initialDepth = 1121.305054; finalDepth = 1119.952200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1119.9522 # Seafloor depth:-1169.952200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1171.305054 meters looking forward 0.000000 meters along route # Maximum depth: 1171.305054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.305054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.878779; captureRadius = 10; duration = 128; initialDepth = 1113.929409; finalDepth = 1121.305054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.305054 # Seafloor depth:-1171.305054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1163.929409 meters looking forward 0.000000 meters along route # Maximum depth: 1163.929409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.929409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790611; longitude = -121.877694; captureRadius = 10; duration = 128; initialDepth = 1109.655486; finalDepth = 1113.929409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.929409 # Seafloor depth:-1163.929409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1159.655486 meters looking forward 0.000000 meters along route # Maximum depth: 1159.655486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.655486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.876704; captureRadius = 10; duration = 128; initialDepth = 1104.589187; finalDepth = 1109.655486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1109.655486 # Seafloor depth:-1159.655486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1154.589187 meters looking forward 0.000000 meters along route # Maximum depth: 1154.589187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.589187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.875667; captureRadius = 10; duration = 128; initialDepth = 1096.820213; finalDepth = 1104.589187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1104.589187 # Seafloor depth:-1154.589187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1146.820213 meters looking forward 0.000000 meters along route # Maximum depth: 1146.820213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.820213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.874630; captureRadius = 10; duration = 128; initialDepth = 1095.140497; finalDepth = 1096.820213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.820213 # Seafloor depth:-1146.820213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1145.140497 meters looking forward 0.000000 meters along route # Maximum depth: 1145.140497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.140497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788401; longitude = -121.873548; captureRadius = 10; duration = 128; initialDepth = 1097.241652; finalDepth = 1095.140497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.140497 # Seafloor depth:-1145.140497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1147.241652 meters looking forward 0.000000 meters along route # Maximum depth: 1147.241652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.241652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.872556; captureRadius = 10; duration = 128; initialDepth = 1094.438791; finalDepth = 1097.241652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.241652 # Seafloor depth:-1147.241652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1144.438791 meters looking forward 0.000000 meters along route # Maximum depth: 1144.438791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.438791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.871519; captureRadius = 10; duration = 128; initialDepth = 1090.423428; finalDepth = 1094.438791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1094.438791 # Seafloor depth:-1144.438791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1140.423428 meters looking forward 0.000000 meters along route # Maximum depth: 1140.423428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.423428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.870482; captureRadius = 10; duration = 128; initialDepth = 1088.401667; finalDepth = 1090.423428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1090.423428 # Seafloor depth:-1140.423428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1138.401667 meters looking forward 0.000000 meters along route # Maximum depth: 1138.401667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.401667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786191; longitude = -121.869402; captureRadius = 10; duration = 128; initialDepth = 1089.698952; finalDepth = 1088.401667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.401667 # Seafloor depth:-1138.401667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.698952 meters looking forward 0.000000 meters along route # Maximum depth: 1139.698952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.698952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.868407; captureRadius = 10; duration = 128; initialDepth = 1086.712953; finalDepth = 1089.698952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.698952 # Seafloor depth:-1139.698952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1136.712953 meters looking forward 0.000000 meters along route # Maximum depth: 1136.712953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.712953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.867370; captureRadius = 10; duration = 128; initialDepth = 1084.907046; finalDepth = 1086.712953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1086.712953 # Seafloor depth:-1136.712953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1134.907046 meters looking forward 0.000000 meters along route # Maximum depth: 1134.907046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.907046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.866333; captureRadius = 10; duration = 128; initialDepth = 1084.082112; finalDepth = 1084.907046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.907046 # Seafloor depth:-1134.907046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1134.082112 meters looking forward 0.000000 meters along route # Maximum depth: 1134.082112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.082112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783981; longitude = -121.865256; captureRadius = 10; duration = 128; initialDepth = 1083.201347; finalDepth = 1084.082112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.082112 # Seafloor depth:-1134.082112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1133.201347 meters looking forward 0.000000 meters along route # Maximum depth: 1133.201347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.201347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783392; longitude = -121.864150; captureRadius = 10; duration = 128; initialDepth = 1078.448524; finalDepth = 1083.201347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1083.201347 # Seafloor depth:-1133.201347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1128.448524 meters looking forward 0.000000 meters along route # Maximum depth: 1128.448524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.448524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.863222; captureRadius = 10; duration = 128; initialDepth = 1075.638806; finalDepth = 1078.448524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.448524 # Seafloor depth:-1128.448524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1125.638806 meters looking forward 0.000000 meters along route # Maximum depth: 1125.638806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.638806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.862185; captureRadius = 10; duration = 128; initialDepth = 1075.205912; finalDepth = 1075.638806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.638806 # Seafloor depth:-1125.638806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1125.205912 meters looking forward 0.000000 meters along route # Maximum depth: 1125.205912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.205912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781771; longitude = -121.861109; captureRadius = 10; duration = 128; initialDepth = 1070.572641; finalDepth = 1075.205912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.205912 # Seafloor depth:-1125.205912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1120.572641 meters looking forward 0.000000 meters along route # Maximum depth: 1120.572641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.572641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781182; longitude = -121.860004; captureRadius = 10; duration = 128; initialDepth = 1070.330223; finalDepth = 1070.572641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.572641 # Seafloor depth:-1120.572641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1120.330223 meters looking forward 0.000000 meters along route # Maximum depth: 1120.330223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.330223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.859074; captureRadius = 10; duration = 128; initialDepth = 1065.926729; finalDepth = 1070.330223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.330223 # Seafloor depth:-1120.330223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1115.926729 meters looking forward 0.000000 meters along route # Maximum depth: 1115.926729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.926729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.858036; captureRadius = 10; duration = 128; initialDepth = 1064.124223; finalDepth = 1065.926729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.926729 # Seafloor depth:-1115.926729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1114.124223 meters looking forward 0.000000 meters along route # Maximum depth: 1114.124223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.124223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779561; longitude = -121.856963; captureRadius = 10; duration = 128; initialDepth = 1062.228441; finalDepth = 1064.124223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.124223 # Seafloor depth:-1114.124223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1112.228441 meters looking forward 0.000000 meters along route # Maximum depth: 1112.228441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.228441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778972; longitude = -121.855858; captureRadius = 10; duration = 128; initialDepth = 1059.379677; finalDepth = 1062.228441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1062.228441 # Seafloor depth:-1112.228441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1109.379677 meters looking forward 0.000000 meters along route # Maximum depth: 1109.379677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.379677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.854925; captureRadius = 10; duration = 128; initialDepth = 1058.857494; finalDepth = 1059.379677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.379677 # Seafloor depth:-1109.379677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1108.857494 meters looking forward 0.000000 meters along route # Maximum depth: 1108.857494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.857494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.853888; captureRadius = 10; duration = 128; initialDepth = 1055.645723; finalDepth = 1058.857494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.857494 # Seafloor depth:-1108.857494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1105.645723 meters looking forward 0.000000 meters along route # Maximum depth: 1105.645723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.645723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777351; longitude = -121.852817; captureRadius = 10; duration = 128; initialDepth = 1054.921222; finalDepth = 1055.645723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.645723 # Seafloor depth:-1105.645723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1104.921222 meters looking forward 0.000000 meters along route # Maximum depth: 1104.921222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.921222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776762; longitude = -121.851712; captureRadius = 10; duration = 128; initialDepth = 1053.984871; finalDepth = 1054.921222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.921222 # Seafloor depth:-1104.921222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1103.984871 meters looking forward 0.000000 meters along route # Maximum depth: 1103.984871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.984871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.850777; captureRadius = 10; duration = 128; initialDepth = 1049.730807; finalDepth = 1053.984871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.984871 # Seafloor depth:-1103.984871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1099.730807 meters looking forward 0.000000 meters along route # Maximum depth: 1099.730807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.730807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.849740; captureRadius = 10; duration = 128; initialDepth = 1045.689360; finalDepth = 1049.730807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.730807 # Seafloor depth:-1099.730807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1095.689360 meters looking forward 0.000000 meters along route # Maximum depth: 1095.689360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.689360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775141; longitude = -121.848671; captureRadius = 10; duration = 128; initialDepth = 1044.140670; finalDepth = 1045.689360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.68936 # Seafloor depth:-1095.689360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1094.140670 meters looking forward 0.000000 meters along route # Maximum depth: 1094.140670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.140670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774552; longitude = -121.847566; captureRadius = 10; duration = 128; initialDepth = 1042.495610; finalDepth = 1044.140670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.14067 # Seafloor depth:-1094.140670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1092.495610 meters looking forward 0.000000 meters along route # Maximum depth: 1092.495610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.495610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.846628; captureRadius = 10; duration = 128; initialDepth = 1039.738735; finalDepth = 1042.495610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.49561 # Seafloor depth:-1092.495610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1089.738735 meters looking forward 0.000000 meters along route # Maximum depth: 1089.738735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.738735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.845591; captureRadius = 10; duration = 128; initialDepth = 1038.826943; finalDepth = 1039.738735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.738735 # Seafloor depth:-1089.738735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1088.826943 meters looking forward 0.000000 meters along route # Maximum depth: 1088.826943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.826943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772931; longitude = -121.844525; captureRadius = 10; duration = 128; initialDepth = 1037.243723; finalDepth = 1038.826943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.826943 # Seafloor depth:-1088.826943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1087.243723 meters looking forward 0.000000 meters along route # Maximum depth: 1087.243723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.243723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772342; longitude = -121.843420; captureRadius = 10; duration = 128; initialDepth = 1032.271792; finalDepth = 1037.243723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.243723 # Seafloor depth:-1087.243723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1082.271792 meters looking forward 0.000000 meters along route # Maximum depth: 1082.271792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.271792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.842480; captureRadius = 10; duration = 128; initialDepth = 1030.340242; finalDepth = 1032.271792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.271792 # Seafloor depth:-1082.271792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1080.340242 meters looking forward 0.000000 meters along route # Maximum depth: 1080.340242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.340242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.841443; captureRadius = 10; duration = 128; initialDepth = 1028.026260; finalDepth = 1030.340242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.340242 # Seafloor depth:-1080.340242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1078.026260 meters looking forward 0.000000 meters along route # Maximum depth: 1078.026260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.026260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770721; longitude = -121.840379; captureRadius = 10; duration = 128; initialDepth = 1027.087354; finalDepth = 1028.026260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.02626 # Seafloor depth:-1078.026260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1077.087354 meters looking forward 0.000000 meters along route # Maximum depth: 1077.087354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.087354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770132; longitude = -121.839274; captureRadius = 10; duration = 128; initialDepth = 1026.421490; finalDepth = 1027.087354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.087354 # Seafloor depth:-1077.087354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1076.421490 meters looking forward 0.000000 meters along route # Maximum depth: 1076.421490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.421490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.838332; captureRadius = 10; duration = 128; initialDepth = 1024.000458; finalDepth = 1026.421490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.42149 # Seafloor depth:-1076.421490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1074.000458 meters looking forward 0.000000 meters along route # Maximum depth: 1074.000458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.000458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.837294; captureRadius = 10; duration = 128; initialDepth = 1021.122912; finalDepth = 1024.000458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.000458 # Seafloor depth:-1074.000458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1071.122912 meters looking forward 0.000000 meters along route # Maximum depth: 1071.122912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.122912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768511; longitude = -121.836233; captureRadius = 10; duration = 128; initialDepth = 1019.968123; finalDepth = 1021.122912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.122912 # Seafloor depth:-1071.122912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1069.968123 meters looking forward 0.000000 meters along route # Maximum depth: 1069.968123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.968123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767922; longitude = -121.835128; captureRadius = 10; duration = 128; initialDepth = 1017.439421; finalDepth = 1019.968123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.968123 # Seafloor depth:-1069.968123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1067.439421 meters looking forward 0.000000 meters along route # Maximum depth: 1067.439421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.439421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.834183; captureRadius = 10; duration = 128; initialDepth = 1014.292085; finalDepth = 1017.439421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.439421 # Seafloor depth:-1067.439421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1064.292085 meters looking forward 0.000000 meters along route # Maximum depth: 1064.292085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.292085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.833146; captureRadius = 10; duration = 128; initialDepth = 1013.808792; finalDepth = 1014.292085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.292085 # Seafloor depth:-1064.292085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1063.808792 meters looking forward 0.000000 meters along route # Maximum depth: 1063.808792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.808792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766301; longitude = -121.832087; captureRadius = 10; duration = 128; initialDepth = 1012.148175; finalDepth = 1013.808792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.808792 # Seafloor depth:-1063.808792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1062.148175 meters looking forward 0.000000 meters along route # Maximum depth: 1062.148175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.148175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765712; longitude = -121.830981; captureRadius = 10; duration = 128; initialDepth = 1011.367610; finalDepth = 1012.148175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.148175 # Seafloor depth:-1062.148175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1061.367610 meters looking forward 0.000000 meters along route # Maximum depth: 1061.367610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.367610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.830035; captureRadius = 10; duration = 128; initialDepth = 1009.515791; finalDepth = 1011.367610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.36761 # Seafloor depth:-1061.367610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1059.515791 meters looking forward 0.000000 meters along route # Maximum depth: 1059.515791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.515791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.828998; captureRadius = 10; duration = 128; initialDepth = 1007.095749; finalDepth = 1009.515791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.515791 # Seafloor depth:-1059.515791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1057.095749 meters looking forward 0.000000 meters along route # Maximum depth: 1057.095749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.095749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764091; longitude = -121.827941; captureRadius = 10; duration = 128; initialDepth = 1006.571031; finalDepth = 1007.095749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.095749 # Seafloor depth:-1057.095749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1056.571031 meters looking forward 0.000000 meters along route # Maximum depth: 1056.571031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.571031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763502; longitude = -121.826835; captureRadius = 10; duration = 128; initialDepth = 1007.831235; finalDepth = 1006.571031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.571031 # Seafloor depth:-1056.571031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1057.831235 meters looking forward 0.000000 meters along route # Maximum depth: 1057.831235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.831235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.825886; captureRadius = 10; duration = 128; initialDepth = 1008.841457; finalDepth = 1007.831235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.831235 # Seafloor depth:-1057.831235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1058.841457 meters looking forward 0.000000 meters along route # Maximum depth: 1058.841457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.841457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.824849; captureRadius = 10; duration = 128; initialDepth = 1007.023574; finalDepth = 1008.841457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.841457 # Seafloor depth:-1058.841457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1057.023574 meters looking forward 0.000000 meters along route # Maximum depth: 1057.023574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.023574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761881; longitude = -121.823795; captureRadius = 10; duration = 128; initialDepth = 1005.462364; finalDepth = 1007.023574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.023574 # Seafloor depth:-1057.023574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1055.462364 meters looking forward 0.000000 meters along route # Maximum depth: 1055.462364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.462364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761292; longitude = -121.822689; captureRadius = 10; duration = 128; initialDepth = 1000.676192; finalDepth = 1005.462364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1005.462364 # Seafloor depth:-1055.462364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1050.676192 meters looking forward 0.000000 meters along route # Maximum depth: 1050.676192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.676192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.821738; captureRadius = 10; duration = 128; initialDepth = 1001.658666; finalDepth = 1000.676192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.676192 # Seafloor depth:-1050.676192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1051.658666 meters looking forward 0.000000 meters along route # Maximum depth: 1051.658666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.658666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.820701; captureRadius = 10; duration = 128; initialDepth = 999.675128; finalDepth = 1001.658666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.658666 # Seafloor depth:-1051.658666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1049.675128 meters looking forward 0.000000 meters along route # Maximum depth: 1049.675128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.675128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759671; longitude = -121.819649; captureRadius = 10; duration = 128; initialDepth = 995.472628; finalDepth = 999.675128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:999.675128 # Seafloor depth:-1049.675128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1045.472628 meters looking forward 0.000000 meters along route # Maximum depth: 1045.472628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.472628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759082; longitude = -121.818543; captureRadius = 10; duration = 128; initialDepth = 991.636633; finalDepth = 995.472628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.472628 # Seafloor depth:-1045.472628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1041.636633 meters looking forward 0.000000 meters along route # Maximum depth: 1041.636633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.636633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.817589; captureRadius = 10; duration = 128; initialDepth = 990.396578; finalDepth = 991.636633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.636633 # Seafloor depth:-1041.636633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1040.396578 meters looking forward 0.000000 meters along route # Maximum depth: 1040.396578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.396578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.816552; captureRadius = 10; duration = 128; initialDepth = 987.524316; finalDepth = 990.396578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:990.396578 # Seafloor depth:-1040.396578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1037.524316 meters looking forward 0.000000 meters along route # Maximum depth: 1037.524316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.524316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757461; longitude = -121.815503; captureRadius = 10; duration = 128; initialDepth = 986.024379; finalDepth = 987.524316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.524316 # Seafloor depth:-1037.524316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1036.024379 meters looking forward 0.000000 meters along route # Maximum depth: 1036.024379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.024379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756872; longitude = -121.814397; captureRadius = 10; duration = 128; initialDepth = 985.208319; finalDepth = 986.024379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.024379 # Seafloor depth:-1036.024379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1035.208319 meters looking forward 0.000000 meters along route # Maximum depth: 1035.208319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.208319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.813441; captureRadius = 10; duration = 128; initialDepth = 983.710144; finalDepth = 985.208319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.208319 # Seafloor depth:-1035.208319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1033.710144 meters looking forward 0.000000 meters along route # Maximum depth: 1033.710144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.710144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.812404; captureRadius = 10; duration = 128; initialDepth = 985.534292; finalDepth = 983.710144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.710144 # Seafloor depth:-1033.710144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1035.534292 meters looking forward 0.000000 meters along route # Maximum depth: 1035.534292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.534292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755251; longitude = -121.811357; captureRadius = 10; duration = 128; initialDepth = 981.413202; finalDepth = 985.534292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.534292 # Seafloor depth:-1035.534292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1031.413202 meters looking forward 0.000000 meters along route # Maximum depth: 1031.413202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.413202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754662; longitude = -121.810251; captureRadius = 10; duration = 128; initialDepth = 979.916194; finalDepth = 981.413202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.413202 # Seafloor depth:-1031.413202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1029.916194 meters looking forward 0.000000 meters along route # Maximum depth: 1029.916194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.916194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.809293; captureRadius = 10; duration = 128; initialDepth = 980.861820; finalDepth = 979.916194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.916194 # Seafloor depth:-1029.916194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1030.861820 meters looking forward 0.000000 meters along route # Maximum depth: 1030.861820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.861820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.808256; captureRadius = 10; duration = 128; initialDepth = 979.405863; finalDepth = 980.861820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.86182 # Seafloor depth:-1030.861820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1029.405863 meters looking forward 0.000000 meters along route # Maximum depth: 1029.405863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.405863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753041; longitude = -121.807211; captureRadius = 10; duration = 128; initialDepth = 976.592008; finalDepth = 979.405863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:979.405863 # Seafloor depth:-1029.405863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1026.592008 meters looking forward 0.000000 meters along route # Maximum depth: 1026.592008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.592008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752452; longitude = -121.806105; captureRadius = 10; duration = 128; initialDepth = 974.320236; finalDepth = 976.592008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.592008 # Seafloor depth:-1026.592008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1024.320236 meters looking forward 0.000000 meters along route # Maximum depth: 1024.320236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.320236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.805144; captureRadius = 10; duration = 128; initialDepth = 972.975124; finalDepth = 974.320236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.320236 # Seafloor depth:-1024.320236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1022.975124 meters looking forward 0.000000 meters along route # Maximum depth: 1022.975124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.975124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.804107; captureRadius = 10; duration = 128; initialDepth = 970.815622; finalDepth = 972.975124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.975124 # Seafloor depth:-1022.975124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1020.815622 meters looking forward 0.000000 meters along route # Maximum depth: 1020.815622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.815622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750831; longitude = -121.803065; captureRadius = 10; duration = 128; initialDepth = 967.944683; finalDepth = 970.815622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.815622 # Seafloor depth:-1020.815622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1017.944683 meters looking forward 0.000000 meters along route # Maximum depth: 1017.944683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.944683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750242; longitude = -121.801959; captureRadius = 10; duration = 128; initialDepth = 968.530597; finalDepth = 967.944683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.944683 # Seafloor depth:-1017.944683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1018.530597 meters looking forward 0.000000 meters along route # Maximum depth: 1018.530597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.530597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.800996; captureRadius = 10; duration = 128; initialDepth = 967.436166; finalDepth = 968.530597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.530597 # Seafloor depth:-1018.530597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1017.436166 meters looking forward 0.000000 meters along route # Maximum depth: 1017.436166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.436166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.799959; captureRadius = 10; duration = 128; initialDepth = 963.743967; finalDepth = 967.436166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.436166 # Seafloor depth:-1017.436166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1013.743967 meters looking forward 0.000000 meters along route # Maximum depth: 1013.743967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.743967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748621; longitude = -121.798919; captureRadius = 10; duration = 128; initialDepth = 966.120034; finalDepth = 963.743967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:963.743967 # Seafloor depth:-1013.743967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1016.120034 meters looking forward 0.000000 meters along route # Maximum depth: 1016.120034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.120034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748032; longitude = -121.797813; captureRadius = 10; duration = 128; initialDepth = 962.254838; finalDepth = 966.120034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.120034 # Seafloor depth:-1016.120034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1012.254838 meters looking forward 0.000000 meters along route # Maximum depth: 1012.254838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.254838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.796847; captureRadius = 10; duration = 128; initialDepth = 960.003310; finalDepth = 962.254838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.254838 # Seafloor depth:-1012.254838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1010.003310 meters looking forward 0.000000 meters along route # Maximum depth: 1010.003310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.003310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.795810; captureRadius = 10; duration = 128; initialDepth = 962.759716; finalDepth = 960.003310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.00331 # Seafloor depth:-1010.003310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1012.759716 meters looking forward 0.000000 meters along route # Maximum depth: 1012.759716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.759716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746411; longitude = -121.794773; captureRadius = 10; duration = 128; initialDepth = 956.443745; finalDepth = 962.759716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.759716 # Seafloor depth:-1012.759716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1006.443745 meters looking forward 0.000000 meters along route # Maximum depth: 1006.443745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.443745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745822; longitude = -121.793667; captureRadius = 10; duration = 128; initialDepth = 958.630494; finalDepth = 956.443745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.443745 # Seafloor depth:-1006.443745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1008.630494 meters looking forward 0.000000 meters along route # Maximum depth: 1008.630494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.630494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.792699; captureRadius = 10; duration = 128; initialDepth = 957.040099; finalDepth = 958.630494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:958.630494 # Seafloor depth:-1008.630494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1007.040099 meters looking forward 0.000000 meters along route # Maximum depth: 1007.040099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.040099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744753; longitude = -121.791662; captureRadius = 10; duration = 128; initialDepth = 954.091780; finalDepth = 957.040099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.040099 # Seafloor depth:-1007.040099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1004.091780 meters looking forward 0.000000 meters along route # Maximum depth: 1004.091780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.091780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.790625; captureRadius = 10; duration = 128; initialDepth = 953.164570; finalDepth = 954.091780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.09178 # Seafloor depth:-1004.091780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1003.164570 meters looking forward 0.000000 meters along route # Maximum depth: 1003.164570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.164570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743612; longitude = -121.789521; captureRadius = 10; duration = 128; initialDepth = 953.234473; finalDepth = 953.164570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.16457 # Seafloor depth:-1003.164570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1003.234473 meters looking forward 0.000000 meters along route # Maximum depth: 1003.234473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.234473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.788551; captureRadius = 10; duration = 128; initialDepth = 949.106187; finalDepth = 953.234473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.234473 # Seafloor depth:-1003.234473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 999.106187 meters looking forward 0.000000 meters along route # Maximum depth: 999.106187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.106187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.787514; captureRadius = 10; duration = 128; initialDepth = 947.745014; finalDepth = 949.106187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.106187 # Seafloor depth:-999.106187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 997.745014 meters looking forward 0.000000 meters along route # Maximum depth: 997.745014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.745014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741989; longitude = -121.786476; captureRadius = 10; duration = 128; initialDepth = 947.564988; finalDepth = 947.745014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.745014 # Seafloor depth:-997.745014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 997.564988 meters looking forward 0.000000 meters along route # Maximum depth: 997.564988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.564988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741402; longitude = -121.785375; captureRadius = 10; duration = 128; initialDepth = 946.715011; finalDepth = 947.564988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.564988 # Seafloor depth:-997.564988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.715011 meters looking forward 0.000000 meters along route # Maximum depth: 996.715011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.715011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740884; longitude = -121.784402; captureRadius = 10; duration = 128; initialDepth = 946.529968; finalDepth = 946.715011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.715011 # Seafloor depth:-996.715011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.529968 meters looking forward 0.000000 meters along route # Maximum depth: 996.529968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.529968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740331; longitude = -121.783365; captureRadius = 10; duration = 128; initialDepth = 946.901113; finalDepth = 946.529968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.529968 # Seafloor depth:-996.529968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.901113 meters looking forward 0.000000 meters along route # Maximum depth: 996.901113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.901113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739778; longitude = -121.782328; captureRadius = 10; duration = 128; initialDepth = 946.374767; finalDepth = 946.901113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.901113 # Seafloor depth:-996.901113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.374767 meters looking forward 0.000000 meters along route # Maximum depth: 996.374767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.374767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739192; longitude = -121.781229; captureRadius = 10; duration = 128; initialDepth = 945.469146; finalDepth = 946.374767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.374767 # Seafloor depth:-996.374767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 995.469146 meters looking forward 0.000000 meters along route # Maximum depth: 995.469146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.469146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738672; longitude = -121.780254; captureRadius = 10; duration = 128; initialDepth = 945.244650; finalDepth = 945.469146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.469146 # Seafloor depth:-995.469146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 995.244650 meters looking forward 0.000000 meters along route # Maximum depth: 995.244650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.244650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738119; longitude = -121.779217; captureRadius = 10; duration = 128; initialDepth = 925.794518; finalDepth = 945.244650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:945.24465 # Seafloor depth:-995.244650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 975.794518 meters looking forward 0.000000 meters along route # Maximum depth: 975.794518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.794518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737567; longitude = -121.778180; captureRadius = 10; duration = 128; initialDepth = 923.585523; finalDepth = 925.794518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.794518 # Seafloor depth:-975.794518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 973.585523 meters looking forward 0.000000 meters along route # Maximum depth: 973.585523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.585523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736982; longitude = -121.777083; captureRadius = 10; duration = 128; initialDepth = 924.625586; finalDepth = 923.585523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.585523 # Seafloor depth:-973.585523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 974.625586 meters looking forward 0.000000 meters along route # Maximum depth: 974.625586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.625586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736461; longitude = -121.776105; captureRadius = 10; duration = 128; initialDepth = 924.198474; finalDepth = 924.625586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.625586 # Seafloor depth:-974.625586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 974.198474 meters looking forward 0.000000 meters along route # Maximum depth: 974.198474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.198474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735908; longitude = -121.775068; captureRadius = 10; duration = 128; initialDepth = 922.439956; finalDepth = 924.198474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.198474 # Seafloor depth:-974.198474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 972.439956 meters looking forward 0.000000 meters along route # Maximum depth: 972.439956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.439956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735355; longitude = -121.774031; captureRadius = 10; duration = 128; initialDepth = 922.582311; finalDepth = 922.439956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.439956 # Seafloor depth:-972.439956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 972.582311 meters looking forward 0.000000 meters along route # Maximum depth: 972.582311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.582311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734772; longitude = -121.772937; captureRadius = 10; duration = 128; initialDepth = 926.990315; finalDepth = 922.582311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.582311 # Seafloor depth:-972.582311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 976.990315 meters looking forward 0.000000 meters along route # Maximum depth: 976.990315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.990315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.771957; captureRadius = 10; duration = 128; initialDepth = 923.067585; finalDepth = 926.990315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.990315 # Seafloor depth:-976.990315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 973.067585 meters looking forward 0.000000 meters along route # Maximum depth: 973.067585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.067585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733697; longitude = -121.770920; captureRadius = 10; duration = 128; initialDepth = 921.763497; finalDepth = 923.067585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.067585 # Seafloor depth:-973.067585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 971.763497 meters looking forward 0.000000 meters along route # Maximum depth: 971.763497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.763497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733144; longitude = -121.769883; captureRadius = 10; duration = 128; initialDepth = 917.361588; finalDepth = 921.763497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.763497 # Seafloor depth:-971.763497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 967.361588 meters looking forward 0.000000 meters along route # Maximum depth: 967.361588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.361588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732562; longitude = -121.768791; captureRadius = 10; duration = 128; initialDepth = 918.304075; finalDepth = 917.361588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.361588 # Seafloor depth:-967.361588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 968.304075 meters looking forward 0.000000 meters along route # Maximum depth: 968.304075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.304075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732039; longitude = -121.767809; captureRadius = 10; duration = 128; initialDepth = 917.324920; finalDepth = 918.304075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.304075 # Seafloor depth:-968.304075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 967.324920 meters looking forward 0.000000 meters along route # Maximum depth: 967.324920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.324920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731486; longitude = -121.766771; captureRadius = 10; duration = 128; initialDepth = 930.910534; finalDepth = 917.324920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.32492 # Seafloor depth:-967.324920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 980.910534 meters looking forward 0.000000 meters along route # Maximum depth: 980.910534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.910534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730933; longitude = -121.765734; captureRadius = 10; duration = 128; initialDepth = 928.694080; finalDepth = 930.910534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.910534 # Seafloor depth:-980.910534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 978.694080 meters looking forward 0.000000 meters along route # Maximum depth: 978.694080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.694080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730352; longitude = -121.764645; captureRadius = 10; duration = 128; initialDepth = 926.943172; finalDepth = 928.694080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.69408 # Seafloor depth:-978.694080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 976.943172 meters looking forward 0.000000 meters along route # Maximum depth: 976.943172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.943172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729827; longitude = -121.763660; captureRadius = 10; duration = 128; initialDepth = 930.458415; finalDepth = 926.943172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.943172 # Seafloor depth:-976.943172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 980.458415 meters looking forward 0.000000 meters along route # Maximum depth: 980.458415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.458415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.762623; captureRadius = 10; duration = 128; initialDepth = 926.289829; finalDepth = 930.458415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.458415 # Seafloor depth:-980.458415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 976.289829 meters looking forward 0.000000 meters along route # Maximum depth: 976.289829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.289829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728722; longitude = -121.761586; captureRadius = 10; duration = 128; initialDepth = 907.316242; finalDepth = 926.289829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:926.289829 # Seafloor depth:-976.289829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 957.316242 meters looking forward 0.000000 meters along route # Maximum depth: 957.316242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.316242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728142; longitude = -121.760499; captureRadius = 10; duration = 128; initialDepth = 907.963369; finalDepth = 907.316242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.316242 # Seafloor depth:-957.316242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 957.963369 meters looking forward 0.000000 meters along route # Maximum depth: 957.963369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.963369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.759512; captureRadius = 10; duration = 128; initialDepth = 923.506082; finalDepth = 907.963369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:907.963369 # Seafloor depth:-957.963369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 973.506082 meters looking forward 0.000000 meters along route # Maximum depth: 973.506082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.506082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727063; longitude = -121.758475; captureRadius = 10; duration = 128; initialDepth = 914.065156; finalDepth = 923.506082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:923.506082 # Seafloor depth:-973.506082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 964.065156 meters looking forward 0.000000 meters along route # Maximum depth: 964.065156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.065156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726511; longitude = -121.757438; captureRadius = 10; duration = 128; initialDepth = 918.616550; finalDepth = 914.065156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:914.065156 # Seafloor depth:-964.065156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 968.616550 meters looking forward 0.000000 meters along route # Maximum depth: 968.616550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.616550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725932; longitude = -121.756352; captureRadius = 10; duration = 128; initialDepth = 912.841360; finalDepth = 918.616550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:918.61655 # Seafloor depth:-968.616550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 962.841360 meters looking forward 0.000000 meters along route # Maximum depth: 962.841360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.841360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725343; longitude = -121.755247; captureRadius = 10; duration = 128; initialDepth = 899.858132; finalDepth = 912.841360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:912.84136 # Seafloor depth:-962.841360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 949.858132 meters looking forward 0.000000 meters along route # Maximum depth: 949.858132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.858132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724753; longitude = -121.754141; captureRadius = 10; duration = 128; initialDepth = 893.923264; finalDepth = 899.858132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:899.858132 # Seafloor depth:-949.858132 # 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 128.275157 meters # Minimum depth: 943.923264 meters looking forward 0.000000 meters along route # Maximum depth: 943.923264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.923264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724115; longitude = -121.752943; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 892.483548; finalDepth = 893.923264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:893.923264 # Seafloor depth:-943.923264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 942.483548 meters looking forward 0.000000 meters along route # Maximum depth: 942.483548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.483548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724326; longitude = -121.752759; captureRadius = 10; duration = 128; initialDepth = 891.539999; finalDepth = 892.483548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:892.483548 # Seafloor depth:-942.483548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 941.539999 meters looking forward 0.000000 meters along route # Maximum depth: 941.539999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.539999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725128; longitude = -121.752059; captureRadius = 10; duration = 128; initialDepth = 894.300976; finalDepth = 891.539999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:891.539999 # Seafloor depth:-941.539999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 944.300976 meters looking forward 0.000000 meters along route # Maximum depth: 944.300976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.300976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725958; longitude = -121.751335; captureRadius = 10; duration = 128; initialDepth = 905.747861; finalDepth = 894.300976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:894.300976 # Seafloor depth:-944.300976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 955.747861 meters looking forward 0.000000 meters along route # Maximum depth: 955.747861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.747861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726859; longitude = -121.750548; captureRadius = 10; duration = 128; initialDepth = 908.797611; finalDepth = 905.747861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.747861 # Seafloor depth:-955.747861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 958.797611 meters looking forward 0.000000 meters along route # Maximum depth: 958.797611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.797611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727616; longitude = -121.749887; captureRadius = 10; duration = 128; initialDepth = 891.442102; finalDepth = 908.797611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.797611 # Seafloor depth:-958.797611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 941.442102 meters looking forward 0.000000 meters along route # Maximum depth: 941.442102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.442102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728445; longitude = -121.749164; captureRadius = 10; duration = 128; initialDepth = 893.089351; finalDepth = 891.442102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:891.442102 # Seafloor depth:-941.442102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 943.089351 meters looking forward 0.000000 meters along route # Maximum depth: 943.089351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.089351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729275; longitude = -121.748440; captureRadius = 10; duration = 128; initialDepth = 897.221358; finalDepth = 893.089351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:893.089351 # Seafloor depth:-943.089351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 947.221358 meters looking forward 0.000000 meters along route # Maximum depth: 947.221358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.221358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730104; longitude = -121.747716; captureRadius = 10; duration = 128; initialDepth = 894.767072; finalDepth = 897.221358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:897.221358 # Seafloor depth:-947.221358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 944.767072 meters looking forward 0.000000 meters along route # Maximum depth: 944.767072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.767072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730976; longitude = -121.746955; captureRadius = 10; duration = 128; initialDepth = 896.460714; finalDepth = 894.767072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:894.767072 # Seafloor depth:-944.767072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 946.460714 meters looking forward 0.000000 meters along route # Maximum depth: 946.460714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.460714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731762; longitude = -121.746268; captureRadius = 10; duration = 128; initialDepth = 894.683000; finalDepth = 896.460714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:896.460714 # Seafloor depth:-946.460714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 944.683000 meters looking forward 0.000000 meters along route # Maximum depth: 944.683000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.683000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732591; longitude = -121.745545; captureRadius = 10; duration = 128; initialDepth = 895.337779; finalDepth = 894.683000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:894.683 # Seafloor depth:-944.683000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 945.337779 meters looking forward 0.000000 meters along route # Maximum depth: 945.337779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.337779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733509; longitude = -121.744743; captureRadius = 10; duration = 128; initialDepth = 898.956750; finalDepth = 895.337779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:895.337779 # Seafloor depth:-945.337779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 948.956750 meters looking forward 0.000000 meters along route # Maximum depth: 948.956750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.956750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734250; longitude = -121.744097; captureRadius = 10; duration = 128; initialDepth = 894.182699; finalDepth = 898.956750; 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:898.95675 # Seafloor depth:-948.956750 # 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 128.275157 meters # Minimum depth: 944.182699 meters looking forward 0.000000 meters along route # Maximum depth: 944.182699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.182699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734987; longitude = -121.743454; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 895.917592; finalDepth = 894.182699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:894.182699 # Seafloor depth:-944.182699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 945.917592 meters looking forward 0.000000 meters along route # Maximum depth: 945.917592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.917592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735084; longitude = -121.743638; captureRadius = 10; duration = 128; initialDepth = 895.637374; finalDepth = 895.917592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:895.917592 # Seafloor depth:-945.917592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 945.637374 meters looking forward 0.000000 meters along route # Maximum depth: 945.637374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.637374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735665; longitude = -121.744743; captureRadius = 10; duration = 128; initialDepth = 901.102780; finalDepth = 895.637374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:895.637374 # Seafloor depth:-945.637374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 951.102780 meters looking forward 0.000000 meters along route # Maximum depth: 951.102780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.102780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736247; longitude = -121.745849; captureRadius = 10; duration = 128; initialDepth = 897.870261; finalDepth = 901.102780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.10278 # Seafloor depth:-951.102780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 947.870261 meters looking forward 0.000000 meters along route # Maximum depth: 947.870261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.870261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736737; longitude = -121.746782; captureRadius = 10; duration = 128; initialDepth = 901.406503; finalDepth = 897.870261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:897.870261 # Seafloor depth:-947.870261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 951.406503 meters looking forward 0.000000 meters along route # Maximum depth: 951.406503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.406503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737290; longitude = -121.747833; captureRadius = 10; duration = 128; initialDepth = 904.252864; finalDepth = 901.406503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.406503 # Seafloor depth:-951.406503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 954.252864 meters looking forward 0.000000 meters along route # Maximum depth: 954.252864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.252864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737846; longitude = -121.748890; captureRadius = 10; duration = 128; initialDepth = 905.222391; finalDepth = 904.252864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.252864 # Seafloor depth:-954.252864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 955.222391 meters looking forward 0.000000 meters along route # Maximum depth: 955.222391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.222391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738428; longitude = -121.749995; captureRadius = 10; duration = 128; initialDepth = 905.400921; finalDepth = 905.222391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.222391 # Seafloor depth:-955.222391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 955.400921 meters looking forward 0.000000 meters along route # Maximum depth: 955.400921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.400921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739009; longitude = -121.751101; captureRadius = 10; duration = 128; initialDepth = 910.178044; finalDepth = 905.400921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:905.400921 # Seafloor depth:-955.400921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 960.178044 meters looking forward 0.000000 meters along route # Maximum depth: 960.178044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.178044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739501; longitude = -121.752036; captureRadius = 10; duration = 128; initialDepth = 908.539101; finalDepth = 910.178044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:910.178044 # Seafloor depth:-960.178044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 958.539101 meters looking forward 0.000000 meters along route # Maximum depth: 958.539101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.539101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740054; longitude = -121.753087; captureRadius = 10; duration = 128; initialDepth = 911.733962; finalDepth = 908.539101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.539101 # Seafloor depth:-958.539101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 961.733962 meters looking forward 0.000000 meters along route # Maximum depth: 961.733962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.733962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740609; longitude = -121.754141; captureRadius = 10; duration = 128; initialDepth = 913.247290; finalDepth = 911.733962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.733962 # Seafloor depth:-961.733962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 963.247290 meters looking forward 0.000000 meters along route # Maximum depth: 963.247290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.247290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741190; longitude = -121.755247; captureRadius = 10; duration = 128; initialDepth = 915.617024; finalDepth = 913.247290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:913.24729 # Seafloor depth:-963.247290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 965.617024 meters looking forward 0.000000 meters along route # Maximum depth: 965.617024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.617024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741772; longitude = -121.756352; captureRadius = 10; duration = 128; initialDepth = 917.910588; finalDepth = 915.617024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:915.617024 # Seafloor depth:-965.617024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 967.910588 meters looking forward 0.000000 meters along route # Maximum depth: 967.910588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.910588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.757291; captureRadius = 10; duration = 128; initialDepth = 921.513770; finalDepth = 917.910588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.910588 # Seafloor depth:-967.910588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 971.513770 meters looking forward 0.000000 meters along route # Maximum depth: 971.513770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.513770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.758342; captureRadius = 10; duration = 128; initialDepth = 919.086853; finalDepth = 921.513770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:921.51377 # Seafloor depth:-971.513770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 969.086853 meters looking forward 0.000000 meters along route # Maximum depth: 969.086853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.086853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743371; longitude = -121.759393; captureRadius = 10; duration = 128; initialDepth = 922.331807; finalDepth = 919.086853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.086853 # Seafloor depth:-969.086853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 972.331807 meters looking forward 0.000000 meters along route # Maximum depth: 972.331807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.331807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743953; longitude = -121.760499; captureRadius = 10; duration = 128; initialDepth = 924.249310; finalDepth = 922.331807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.331807 # Seafloor depth:-972.331807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 974.249310 meters looking forward 0.000000 meters along route # Maximum depth: 974.249310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.249310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744534; longitude = -121.761604; captureRadius = 10; duration = 128; initialDepth = 927.096750; finalDepth = 924.249310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.24931 # Seafloor depth:-974.249310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 977.096750 meters looking forward 0.000000 meters along route # Maximum depth: 977.096750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.096750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.762546; captureRadius = 10; duration = 128; initialDepth = 928.755330; finalDepth = 927.096750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.09675 # Seafloor depth:-977.096750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 978.755330 meters looking forward 0.000000 meters along route # Maximum depth: 978.755330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.755330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.763597; captureRadius = 10; duration = 128; initialDepth = 935.515094; finalDepth = 928.755330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:928.75533 # Seafloor depth:-978.755330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 985.515094 meters looking forward 0.000000 meters along route # Maximum depth: 985.515094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.515094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.764648; captureRadius = 10; duration = 128; initialDepth = 931.541813; finalDepth = 935.515094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.515094 # Seafloor depth:-985.515094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 981.541813 meters looking forward 0.000000 meters along route # Maximum depth: 981.541813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.541813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746715; longitude = -121.765750; captureRadius = 10; duration = 128; initialDepth = 932.811432; finalDepth = 931.541813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:931.541813 # Seafloor depth:-981.541813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 982.811432 meters looking forward 0.000000 meters along route # Maximum depth: 982.811432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.811432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747297; longitude = -121.766856; captureRadius = 10; duration = 128; initialDepth = 936.856679; finalDepth = 932.811432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:932.811432 # Seafloor depth:-982.811432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 986.856679 meters looking forward 0.000000 meters along route # Maximum depth: 986.856679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.856679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.767800; captureRadius = 10; duration = 128; initialDepth = 936.402611; finalDepth = 936.856679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.856679 # Seafloor depth:-986.856679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 986.402611 meters looking forward 0.000000 meters along route # Maximum depth: 986.402611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.402611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.768851; captureRadius = 10; duration = 128; initialDepth = 935.413511; finalDepth = 936.402611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:936.402611 # Seafloor depth:-986.402611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 985.413511 meters looking forward 0.000000 meters along route # Maximum depth: 985.413511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.413511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.769902; captureRadius = 10; duration = 128; initialDepth = 935.582507; finalDepth = 935.413511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.413511 # Seafloor depth:-985.413511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 985.582507 meters looking forward 0.000000 meters along route # Maximum depth: 985.582507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.582507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749478; longitude = -121.771002; captureRadius = 10; duration = 128; initialDepth = 941.654535; finalDepth = 935.582507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:935.582507 # Seafloor depth:-985.582507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 991.654535 meters looking forward 0.000000 meters along route # Maximum depth: 991.654535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.654535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750059; longitude = -121.772107; captureRadius = 10; duration = 128; initialDepth = 946.146188; finalDepth = 941.654535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.654535 # Seafloor depth:-991.654535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.146188 meters looking forward 0.000000 meters along route # Maximum depth: 996.146188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.146188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.773055; captureRadius = 10; duration = 128; initialDepth = 946.704031; finalDepth = 946.146188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.146188 # Seafloor depth:-996.146188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.704031 meters looking forward 0.000000 meters along route # Maximum depth: 996.704031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.704031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.774106; captureRadius = 10; duration = 128; initialDepth = 949.775369; finalDepth = 946.704031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.704031 # Seafloor depth:-996.704031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 999.775369 meters looking forward 0.000000 meters along route # Maximum depth: 999.775369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.775369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.775157; captureRadius = 10; duration = 128; initialDepth = 946.499250; finalDepth = 949.775369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:949.775369 # Seafloor depth:-999.775369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.499250 meters looking forward 0.000000 meters along route # Maximum depth: 996.499250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.499250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752240; longitude = -121.776254; captureRadius = 10; duration = 128; initialDepth = 947.857168; finalDepth = 946.499250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.49925 # Seafloor depth:-996.499250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 997.857168 meters looking forward 0.000000 meters along route # Maximum depth: 997.857168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.857168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752822; longitude = -121.777359; captureRadius = 10; duration = 128; initialDepth = 953.077154; finalDepth = 947.857168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:947.857168 # Seafloor depth:-997.857168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1003.077154 meters looking forward 0.000000 meters along route # Maximum depth: 1003.077154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.077154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.778310; captureRadius = 10; duration = 128; initialDepth = 954.700008; finalDepth = 953.077154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.077154 # Seafloor depth:-1003.077154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1004.700008 meters looking forward 0.000000 meters along route # Maximum depth: 1004.700008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.700008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.779361; captureRadius = 10; duration = 128; initialDepth = 953.031919; finalDepth = 954.700008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:954.700008 # Seafloor depth:-1004.700008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1003.031919 meters looking forward 0.000000 meters along route # Maximum depth: 1003.031919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.031919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.780412; captureRadius = 10; duration = 128; initialDepth = 953.738113; finalDepth = 953.031919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.031919 # Seafloor depth:-1003.031919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1003.738113 meters looking forward 0.000000 meters along route # Maximum depth: 1003.738113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.738113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755002; longitude = -121.781505; captureRadius = 10; duration = 128; initialDepth = 956.558470; finalDepth = 953.738113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:953.738113 # Seafloor depth:-1003.738113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1006.558470 meters looking forward 0.000000 meters along route # Maximum depth: 1006.558470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.558470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755584; longitude = -121.782611; captureRadius = 10; duration = 128; initialDepth = 957.891941; finalDepth = 956.558470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.55847 # Seafloor depth:-1006.558470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1007.891941 meters looking forward 0.000000 meters along route # Maximum depth: 1007.891941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.891941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.783565; captureRadius = 10; duration = 128; initialDepth = 956.540001; finalDepth = 957.891941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.891941 # Seafloor depth:-1007.891941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1006.540001 meters looking forward 0.000000 meters along route # Maximum depth: 1006.540001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.540001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.784615; captureRadius = 10; duration = 128; initialDepth = 957.354296; finalDepth = 956.540001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.540001 # Seafloor depth:-1006.540001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1007.354296 meters looking forward 0.000000 meters along route # Maximum depth: 1007.354296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.354296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.785666; captureRadius = 10; duration = 128; initialDepth = 959.336559; finalDepth = 957.354296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.354296 # Seafloor depth:-1007.354296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1009.336559 meters looking forward 0.000000 meters along route # Maximum depth: 1009.336559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.336559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757765; longitude = -121.786757; captureRadius = 10; duration = 128; initialDepth = 962.186697; finalDepth = 959.336559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:959.336559 # Seafloor depth:-1009.336559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1012.186697 meters looking forward 0.000000 meters along route # Maximum depth: 1012.186697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.186697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758346; longitude = -121.787862; captureRadius = 10; duration = 128; initialDepth = 960.682326; finalDepth = 962.186697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.186697 # Seafloor depth:-1012.186697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1010.682326 meters looking forward 0.000000 meters along route # Maximum depth: 1010.682326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.682326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.788819; captureRadius = 10; duration = 128; initialDepth = 968.105846; finalDepth = 960.682326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:960.682326 # Seafloor depth:-1010.682326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1018.105846 meters looking forward 0.000000 meters along route # Maximum depth: 1018.105846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.105846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.789870; captureRadius = 10; duration = 128; initialDepth = 965.317815; finalDepth = 968.105846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.105846 # Seafloor depth:-1018.105846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1015.317815 meters looking forward 0.000000 meters along route # Maximum depth: 1015.317815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.317815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.790921; captureRadius = 10; duration = 128; initialDepth = 968.541515; finalDepth = 965.317815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:965.317815 # Seafloor depth:-1015.317815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1018.541515 meters looking forward 0.000000 meters along route # Maximum depth: 1018.541515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.541515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760527; longitude = -121.792009; captureRadius = 10; duration = 128; initialDepth = 966.884525; finalDepth = 968.541515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:968.541515 # Seafloor depth:-1018.541515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1016.884525 meters looking forward 0.000000 meters along route # Maximum depth: 1016.884525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.884525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761109; longitude = -121.793114; captureRadius = 10; duration = 128; initialDepth = 969.275275; finalDepth = 966.884525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:966.884525 # Seafloor depth:-1016.884525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1019.275275 meters looking forward 0.000000 meters along route # Maximum depth: 1019.275275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.275275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.794074; captureRadius = 10; duration = 128; initialDepth = 969.424152; finalDepth = 969.275275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:969.275275 # Seafloor depth:-1019.275275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1019.424152 meters looking forward 0.000000 meters along route # Maximum depth: 1019.424152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.424152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.795125; captureRadius = 10; duration = 128; initialDepth = 972.538936; finalDepth = 969.424152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:969.424152 # Seafloor depth:-1019.424152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1022.538936 meters looking forward 0.000000 meters along route # Maximum depth: 1022.538936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.538936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.796176; captureRadius = 10; duration = 128; initialDepth = 974.137923; finalDepth = 972.538936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.538936 # Seafloor depth:-1022.538936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1024.137923 meters looking forward 0.000000 meters along route # Maximum depth: 1024.137923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.137923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763290; longitude = -121.797260; captureRadius = 10; duration = 128; initialDepth = 977.702767; finalDepth = 974.137923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:974.137923 # Seafloor depth:-1024.137923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1027.702767 meters looking forward 0.000000 meters along route # Maximum depth: 1027.702767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.702767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763871; longitude = -121.798366; captureRadius = 10; duration = 128; initialDepth = 980.559471; finalDepth = 977.702767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:977.702767 # Seafloor depth:-1027.702767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1030.559471 meters looking forward 0.000000 meters along route # Maximum depth: 1030.559471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.559471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.799329; captureRadius = 10; duration = 128; initialDepth = 983.682390; finalDepth = 980.559471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:980.559471 # Seafloor depth:-1030.559471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1033.682390 meters looking forward 0.000000 meters along route # Maximum depth: 1033.682390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.682390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.800380; captureRadius = 10; duration = 128; initialDepth = 986.329743; finalDepth = 983.682390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:983.68239 # Seafloor depth:-1033.682390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1036.329743 meters looking forward 0.000000 meters along route # Maximum depth: 1036.329743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.329743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.801431; captureRadius = 10; duration = 128; initialDepth = 987.400223; finalDepth = 986.329743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.329743 # Seafloor depth:-1036.329743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1037.400223 meters looking forward 0.000000 meters along route # Maximum depth: 1037.400223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.400223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766052; longitude = -121.802512; captureRadius = 10; duration = 128; initialDepth = 985.907495; finalDepth = 987.400223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.400223 # Seafloor depth:-1037.400223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1035.907495 meters looking forward 0.000000 meters along route # Maximum depth: 1035.907495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.907495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766634; longitude = -121.803617; captureRadius = 10; duration = 128; initialDepth = 988.433763; finalDepth = 985.907495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:985.907495 # Seafloor depth:-1035.907495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1038.433763 meters looking forward 0.000000 meters along route # Maximum depth: 1038.433763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.433763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.804583; captureRadius = 10; duration = 128; initialDepth = 987.749517; finalDepth = 988.433763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.433763 # Seafloor depth:-1038.433763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1037.749517 meters looking forward 0.000000 meters along route # Maximum depth: 1037.749517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.749517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.805634; captureRadius = 10; duration = 128; initialDepth = 987.283929; finalDepth = 987.749517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.749517 # Seafloor depth:-1037.749517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1037.283929 meters looking forward 0.000000 meters along route # Maximum depth: 1037.283929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.283929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.806685; captureRadius = 10; duration = 128; initialDepth = 988.754993; finalDepth = 987.283929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:987.283929 # Seafloor depth:-1037.283929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1038.754993 meters looking forward 0.000000 meters along route # Maximum depth: 1038.754993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.754993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768815; longitude = -121.807764; captureRadius = 10; duration = 128; initialDepth = 992.765482; finalDepth = 988.754993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:988.754993 # Seafloor depth:-1038.754993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1042.765482 meters looking forward 0.000000 meters along route # Maximum depth: 1042.765482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.765482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769396; longitude = -121.808869; captureRadius = 10; duration = 128; initialDepth = 994.224037; finalDepth = 992.765482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:992.765482 # Seafloor depth:-1042.765482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1044.224037 meters looking forward 0.000000 meters along route # Maximum depth: 1044.224037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.224037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.809838; captureRadius = 10; duration = 128; initialDepth = 993.938993; finalDepth = 994.224037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.224037 # Seafloor depth:-1044.224037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1043.938993 meters looking forward 0.000000 meters along route # Maximum depth: 1043.938993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.938993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.810889; captureRadius = 10; duration = 128; initialDepth = 996.775521; finalDepth = 993.938993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:993.938993 # Seafloor depth:-1043.938993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1046.775521 meters looking forward 0.000000 meters along route # Maximum depth: 1046.775521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.775521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.811940; captureRadius = 10; duration = 128; initialDepth = 996.613440; finalDepth = 996.775521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.775521 # Seafloor depth:-1046.775521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1046.613440 meters looking forward 0.000000 meters along route # Maximum depth: 1046.613440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.613440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771577; longitude = -121.813015; captureRadius = 10; duration = 128; initialDepth = 1002.472044; finalDepth = 996.613440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.61344 # Seafloor depth:-1046.613440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1052.472044 meters looking forward 0.000000 meters along route # Maximum depth: 1052.472044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.472044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772159; longitude = -121.814121; captureRadius = 10; duration = 128; initialDepth = 1002.881173; finalDepth = 1002.472044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.472044 # Seafloor depth:-1052.472044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1052.881173 meters looking forward 0.000000 meters along route # Maximum depth: 1052.881173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.881173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.815093; captureRadius = 10; duration = 128; initialDepth = 1004.022520; finalDepth = 1002.881173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1002.881173 # Seafloor depth:-1052.881173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1054.022520 meters looking forward 0.000000 meters along route # Maximum depth: 1054.022520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.022520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.816144; captureRadius = 10; duration = 128; initialDepth = 1007.787097; finalDepth = 1004.022520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1004.02252 # Seafloor depth:-1054.022520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1057.787097 meters looking forward 0.000000 meters along route # Maximum depth: 1057.787097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.787097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.817195; captureRadius = 10; duration = 128; initialDepth = 1008.956973; finalDepth = 1007.787097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.787097 # Seafloor depth:-1057.787097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1058.956973 meters looking forward 0.000000 meters along route # Maximum depth: 1058.956973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.956973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774340; longitude = -121.818267; captureRadius = 10; duration = 128; initialDepth = 1011.695436; finalDepth = 1008.956973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.956973 # Seafloor depth:-1058.956973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1061.695436 meters looking forward 0.000000 meters along route # Maximum depth: 1061.695436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.695436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774921; longitude = -121.819373; captureRadius = 10; duration = 128; initialDepth = 1014.675453; finalDepth = 1011.695436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.695436 # Seafloor depth:-1061.695436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1064.675453 meters looking forward 0.000000 meters along route # Maximum depth: 1064.675453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.675453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.820348; captureRadius = 10; duration = 128; initialDepth = 1012.709564; finalDepth = 1014.675453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.675453 # Seafloor depth:-1064.675453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1062.709564 meters looking forward 0.000000 meters along route # Maximum depth: 1062.709564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.709564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.821398; captureRadius = 10; duration = 128; initialDepth = 1016.670255; finalDepth = 1012.709564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.709564 # Seafloor depth:-1062.709564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1066.670255 meters looking forward 0.000000 meters along route # Maximum depth: 1066.670255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.670255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.822449; captureRadius = 10; duration = 128; initialDepth = 1011.910005; finalDepth = 1016.670255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.670255 # Seafloor depth:-1066.670255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1061.910005 meters looking forward 0.000000 meters along route # Maximum depth: 1061.910005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.910005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777102; longitude = -121.823519; captureRadius = 10; duration = 128; initialDepth = 1016.133591; finalDepth = 1011.910005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.910005 # Seafloor depth:-1061.910005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1066.133591 meters looking forward 0.000000 meters along route # Maximum depth: 1066.133591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.133591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777684; longitude = -121.824624; captureRadius = 10; duration = 128; initialDepth = 1016.527607; finalDepth = 1016.133591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.133591 # Seafloor depth:-1066.133591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1066.527607 meters looking forward 0.000000 meters along route # Maximum depth: 1066.527607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.527607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.825602; captureRadius = 10; duration = 128; initialDepth = 1018.635129; finalDepth = 1016.527607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.527607 # Seafloor depth:-1066.527607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1068.635129 meters looking forward 0.000000 meters along route # Maximum depth: 1068.635129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.635129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.826653; captureRadius = 10; duration = 128; initialDepth = 1021.172154; finalDepth = 1018.635129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.635129 # Seafloor depth:-1068.635129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1071.172154 meters looking forward 0.000000 meters along route # Maximum depth: 1071.172154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.172154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.827704; captureRadius = 10; duration = 128; initialDepth = 1026.642737; finalDepth = 1021.172154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.172154 # Seafloor depth:-1071.172154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1076.642737 meters looking forward 0.000000 meters along route # Maximum depth: 1076.642737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.642737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779864; longitude = -121.828770; captureRadius = 10; duration = 128; initialDepth = 1026.359181; finalDepth = 1026.642737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.642737 # Seafloor depth:-1076.642737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1076.359181 meters looking forward 0.000000 meters along route # Maximum depth: 1076.359181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.359181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780446; longitude = -121.829876; captureRadius = 10; duration = 128; initialDepth = 1026.207443; finalDepth = 1026.359181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.359181 # Seafloor depth:-1076.359181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1076.207443 meters looking forward 0.000000 meters along route # Maximum depth: 1076.207443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.207443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.830857; captureRadius = 10; duration = 128; initialDepth = 1026.960599; finalDepth = 1026.207443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.207443 # Seafloor depth:-1076.207443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1076.960599 meters looking forward 0.000000 meters along route # Maximum depth: 1076.960599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.960599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.831908; captureRadius = 10; duration = 128; initialDepth = 1025.687800; finalDepth = 1026.960599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.960599 # Seafloor depth:-1076.960599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1075.687800 meters looking forward 0.000000 meters along route # Maximum depth: 1075.687800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.687800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.832959; captureRadius = 10; duration = 128; initialDepth = 1033.476789; finalDepth = 1025.687800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.6878 # Seafloor depth:-1075.687800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1083.476789 meters looking forward 0.000000 meters along route # Maximum depth: 1083.476789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.476789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782627; longitude = -121.834022; captureRadius = 10; duration = 128; initialDepth = 1036.336631; finalDepth = 1033.476789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.476789 # Seafloor depth:-1083.476789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1086.336631 meters looking forward 0.000000 meters along route # Maximum depth: 1086.336631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.336631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783208; longitude = -121.835128; captureRadius = 10; duration = 128; initialDepth = 1038.824534; finalDepth = 1036.336631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.336631 # Seafloor depth:-1086.336631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1088.824534 meters looking forward 0.000000 meters along route # Maximum depth: 1088.824534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.824534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.836112; captureRadius = 10; duration = 128; initialDepth = 1041.256645; finalDepth = 1038.824534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.824534 # Seafloor depth:-1088.824534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1091.256645 meters looking forward 0.000000 meters along route # Maximum depth: 1091.256645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.256645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.837163; captureRadius = 10; duration = 128; initialDepth = 1039.236215; finalDepth = 1041.256645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.256645 # Seafloor depth:-1091.256645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1089.236215 meters looking forward 0.000000 meters along route # Maximum depth: 1089.236215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.236215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.838214; captureRadius = 10; duration = 128; initialDepth = 1043.409559; finalDepth = 1039.236215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.236215 # Seafloor depth:-1089.236215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1093.409559 meters looking forward 0.000000 meters along route # Maximum depth: 1093.409559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.409559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785389; longitude = -121.839274; captureRadius = 10; duration = 128; initialDepth = 1042.765650; finalDepth = 1043.409559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.409559 # Seafloor depth:-1093.409559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1092.765650 meters looking forward 0.000000 meters along route # Maximum depth: 1092.765650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.765650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785971; longitude = -121.840379; captureRadius = 10; duration = 128; initialDepth = 1045.407683; finalDepth = 1042.765650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.76565 # Seafloor depth:-1092.765650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1095.407683 meters looking forward 0.000000 meters along route # Maximum depth: 1095.407683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.407683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786552; longitude = -121.841485; captureRadius = 10; duration = 128; initialDepth = 1047.542117; finalDepth = 1045.407683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.407683 # Seafloor depth:-1095.407683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1097.542117 meters looking forward 0.000000 meters along route # Maximum depth: 1097.542117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.542117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.842417; captureRadius = 10; duration = 128; initialDepth = 1048.553149; finalDepth = 1047.542117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.542117 # Seafloor depth:-1097.542117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1098.553149 meters looking forward 0.000000 meters along route # Maximum depth: 1098.553149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.553149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.843468; captureRadius = 10; duration = 128; initialDepth = 1050.885466; finalDepth = 1048.553149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.553149 # Seafloor depth:-1098.553149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1100.885466 meters looking forward 0.000000 meters along route # Maximum depth: 1100.885466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.885466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788152; longitude = -121.844525; captureRadius = 10; duration = 128; initialDepth = 1053.591278; finalDepth = 1050.885466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.885466 # Seafloor depth:-1100.885466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1103.591278 meters looking forward 0.000000 meters along route # Maximum depth: 1103.591278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.591278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788733; longitude = -121.845631; captureRadius = 10; duration = 128; initialDepth = 1055.832919; finalDepth = 1053.591278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.591278 # Seafloor depth:-1103.591278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1105.832919 meters looking forward 0.000000 meters along route # Maximum depth: 1105.832919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.832919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789315; longitude = -121.846736; captureRadius = 10; duration = 128; initialDepth = 1059.196402; finalDepth = 1055.832919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.832919 # Seafloor depth:-1105.832919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1109.196402 meters looking forward 0.000000 meters along route # Maximum depth: 1109.196402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.196402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.847672; captureRadius = 10; duration = 128; initialDepth = 1061.398778; finalDepth = 1059.196402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.196402 # Seafloor depth:-1109.196402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1111.398778 meters looking forward 0.000000 meters along route # Maximum depth: 1111.398778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.398778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.848723; captureRadius = 10; duration = 128; initialDepth = 1060.996380; finalDepth = 1061.398778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.398778 # Seafloor depth:-1111.398778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1110.996380 meters looking forward 0.000000 meters along route # Maximum depth: 1110.996380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.996380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790914; longitude = -121.849777; captureRadius = 10; duration = 128; initialDepth = 1065.362577; finalDepth = 1060.996380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.99638 # Seafloor depth:-1110.996380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1115.362577 meters looking forward 0.000000 meters along route # Maximum depth: 1115.362577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.362577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791496; longitude = -121.850883; captureRadius = 10; duration = 128; initialDepth = 1066.295810; finalDepth = 1065.362577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1065.362577 # Seafloor depth:-1115.362577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1116.295810 meters looking forward 0.000000 meters along route # Maximum depth: 1116.295810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.295810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792077; longitude = -121.851988; captureRadius = 10; duration = 128; initialDepth = 1067.726422; finalDepth = 1066.295810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.29581 # Seafloor depth:-1116.295810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1117.726422 meters looking forward 0.000000 meters along route # Maximum depth: 1117.726422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.726422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.852927; captureRadius = 10; duration = 128; initialDepth = 1070.780665; finalDepth = 1067.726422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1067.726422 # Seafloor depth:-1117.726422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1120.780665 meters looking forward 0.000000 meters along route # Maximum depth: 1120.780665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.780665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.853978; captureRadius = 10; duration = 128; initialDepth = 1075.742798; finalDepth = 1070.780665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1070.780665 # Seafloor depth:-1120.780665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1125.742798 meters looking forward 0.000000 meters along route # Maximum depth: 1125.742798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.742798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.855029; captureRadius = 10; duration = 128; initialDepth = 1078.424126; finalDepth = 1075.742798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1075.742798 # Seafloor depth:-1125.742798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1128.424126 meters looking forward 0.000000 meters along route # Maximum depth: 1128.424126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.424126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794258; longitude = -121.856134; captureRadius = 10; duration = 128; initialDepth = 1079.326907; finalDepth = 1078.424126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.424126 # Seafloor depth:-1128.424126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1129.326907 meters looking forward 0.000000 meters along route # Maximum depth: 1129.326907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.326907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794840; longitude = -121.857240; captureRadius = 10; duration = 128; initialDepth = 1082.855196; finalDepth = 1079.326907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1079.326907 # Seafloor depth:-1129.326907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1132.855196 meters looking forward 0.000000 meters along route # Maximum depth: 1132.855196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.855196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.858181; captureRadius = 10; duration = 128; initialDepth = 1084.678388; finalDepth = 1082.855196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.855196 # Seafloor depth:-1132.855196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1134.678388 meters looking forward 0.000000 meters along route # Maximum depth: 1134.678388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.678388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.859232; captureRadius = 10; duration = 128; initialDepth = 1089.368039; finalDepth = 1084.678388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.678388 # Seafloor depth:-1134.678388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1139.368039 meters looking forward 0.000000 meters along route # Maximum depth: 1139.368039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.368039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.860283; captureRadius = 10; duration = 128; initialDepth = 1091.125733; finalDepth = 1089.368039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1089.368039 # Seafloor depth:-1139.368039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1141.125733 meters looking forward 0.000000 meters along route # Maximum depth: 1141.125733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1091.125733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797021; longitude = -121.861386; captureRadius = 10; duration = 128; initialDepth = 1093.553452; finalDepth = 1091.125733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1091.125733 # Seafloor depth:-1141.125733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1143.553452 meters looking forward 0.000000 meters along route # Maximum depth: 1143.553452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.553452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797602; longitude = -121.862492; captureRadius = 10; duration = 128; initialDepth = 1097.451311; finalDepth = 1093.553452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.553452 # Seafloor depth:-1143.553452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1147.451311 meters looking forward 0.000000 meters along route # Maximum depth: 1147.451311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.451311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.863436; captureRadius = 10; duration = 128; initialDepth = 1098.135383; finalDepth = 1097.451311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.451311 # Seafloor depth:-1147.451311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1148.135383 meters looking forward 0.000000 meters along route # Maximum depth: 1148.135383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.135383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.864487; captureRadius = 10; duration = 128; initialDepth = 1102.479322; finalDepth = 1098.135383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.135383 # Seafloor depth:-1148.135383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1152.479322 meters looking forward 0.000000 meters along route # Maximum depth: 1152.479322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.479322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.865538; captureRadius = 10; duration = 128; initialDepth = 1107.118132; finalDepth = 1102.479322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.479322 # Seafloor depth:-1152.479322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1157.118132 meters looking forward 0.000000 meters along route # Maximum depth: 1157.118132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.118132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799783; longitude = -121.866638; captureRadius = 10; duration = 128; initialDepth = 1107.745198; finalDepth = 1107.118132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.118132 # Seafloor depth:-1157.118132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1157.745198 meters looking forward 0.000000 meters along route # Maximum depth: 1157.745198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.745198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800365; longitude = -121.867743; captureRadius = 10; duration = 128; initialDepth = 1108.784651; finalDepth = 1107.745198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1107.745198 # Seafloor depth:-1157.745198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1158.784651 meters looking forward 0.000000 meters along route # Maximum depth: 1158.784651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.784651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.868691; captureRadius = 10; duration = 128; initialDepth = 1101.147921; finalDepth = 1108.784651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.784651 # Seafloor depth:-1158.784651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1151.147921 meters looking forward 0.000000 meters along route # Maximum depth: 1151.147921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.147921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.869742; captureRadius = 10; duration = 128; initialDepth = 1106.657754; finalDepth = 1101.147921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.147921 # Seafloor depth:-1151.147921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1156.657754 meters looking forward 0.000000 meters along route # Maximum depth: 1156.657754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.657754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801969; longitude = -121.870793; captureRadius = 10; duration = 128; initialDepth = 1105.813209; finalDepth = 1106.657754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1106.657754 # Seafloor depth:-1156.657754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1155.813209 meters looking forward 0.000000 meters along route # Maximum depth: 1155.813209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.813209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802546; longitude = -121.871889; captureRadius = 10; duration = 128; initialDepth = 1105.846413; finalDepth = 1105.813209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.813209 # Seafloor depth:-1155.813209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1155.846413 meters looking forward 0.000000 meters along route # Maximum depth: 1155.846413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.846413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803127; longitude = -121.872995; captureRadius = 10; duration = 128; initialDepth = 1108.432619; finalDepth = 1105.846413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1105.846413 # Seafloor depth:-1155.846413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1158.432619 meters looking forward 0.000000 meters along route # Maximum depth: 1158.432619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.432619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.873946; captureRadius = 10; duration = 128; initialDepth = 1112.717629; finalDepth = 1108.432619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.432619 # Seafloor depth:-1158.432619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1162.717629 meters looking forward 0.000000 meters along route # Maximum depth: 1162.717629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.717629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804180; longitude = -121.874997; captureRadius = 10; duration = 128; initialDepth = 1113.474958; finalDepth = 1112.717629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.717629 # Seafloor depth:-1162.717629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1163.474958 meters looking forward 0.000000 meters along route # Maximum depth: 1163.474958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.474958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.876047; captureRadius = 10; duration = 128; initialDepth = 1116.392751; finalDepth = 1113.474958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.474958 # Seafloor depth:-1163.474958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1166.392751 meters looking forward 0.000000 meters along route # Maximum depth: 1166.392751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.392751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805308; longitude = -121.877141; captureRadius = 10; duration = 128; initialDepth = 1121.781906; finalDepth = 1116.392751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1116.392751 # Seafloor depth:-1166.392751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1171.781906 meters looking forward 0.000000 meters along route # Maximum depth: 1171.781906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.781906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805890; longitude = -121.878247; captureRadius = 10; duration = 128; initialDepth = 1126.254451; finalDepth = 1121.781906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1121.781906 # Seafloor depth:-1171.781906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1176.254451 meters looking forward 0.000000 meters along route # Maximum depth: 1176.254451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.254451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806391; longitude = -121.879200; captureRadius = 10; duration = 128; initialDepth = 1126.180920; finalDepth = 1126.254451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.254451 # Seafloor depth:-1176.254451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1176.180920 meters looking forward 0.000000 meters along route # Maximum depth: 1176.180920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.180920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806944; longitude = -121.880251; captureRadius = 10; duration = 128; initialDepth = 1126.217005; finalDepth = 1126.180920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.18092 # Seafloor depth:-1176.180920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1176.217005 meters looking forward 0.000000 meters along route # Maximum depth: 1176.217005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.217005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807497; longitude = -121.881302; captureRadius = 10; duration = 128; initialDepth = 1130.754819; finalDepth = 1126.217005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.217005 # Seafloor depth:-1176.217005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1180.754819 meters looking forward 0.000000 meters along route # Maximum depth: 1180.754819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.754819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808070; longitude = -121.882393; captureRadius = 10; duration = 128; initialDepth = 1131.732945; finalDepth = 1130.754819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1130.754819 # Seafloor depth:-1180.754819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1181.732945 meters looking forward 0.000000 meters along route # Maximum depth: 1181.732945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.732945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808652; longitude = -121.883498; captureRadius = 10; duration = 128; initialDepth = 1131.319354; finalDepth = 1131.732945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.732945 # Seafloor depth:-1181.732945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1181.319354 meters looking forward 0.000000 meters along route # Maximum depth: 1181.319354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.319354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809234; longitude = -121.884604; captureRadius = 10; duration = 128; initialDepth = 1138.976691; finalDepth = 1131.319354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1131.319354 # Seafloor depth:-1181.319354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1188.976691 meters looking forward 0.000000 meters along route # Maximum depth: 1188.976691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.976691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809815; longitude = -121.885709; captureRadius = 10; duration = 128; initialDepth = 1144.821615; finalDepth = 1138.976691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1138.976691 # Seafloor depth:-1188.976691 # 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 128.275157 meters # Minimum depth: 1194.821615 meters looking forward 0.000000 meters along route # Maximum depth: 1194.821615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.821615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810445; longitude = -121.886907; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 1141.800168; finalDepth = 1144.821615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1144.821615 # Seafloor depth:-1194.821615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1191.800168 meters looking forward 0.000000 meters along route # Maximum depth: 1191.800168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.800168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810814; longitude = -121.886605; captureRadius = 10; duration = 128; initialDepth = 1135.860366; finalDepth = 1141.800168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1141.800168 # Seafloor depth:-1191.800168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1185.860366 meters looking forward 0.000000 meters along route # Maximum depth: 1185.860366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.860366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811643; longitude = -121.885926; captureRadius = 10; duration = 128; initialDepth = 1132.645088; finalDepth = 1135.860366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1135.860366 # Seafloor depth:-1185.860366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1182.645088 meters looking forward 0.000000 meters along route # Maximum depth: 1182.645088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.645088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812472; longitude = -121.885248; captureRadius = 10; duration = 128; initialDepth = 1128.502287; finalDepth = 1132.645088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1132.645088 # Seafloor depth:-1182.645088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1178.502287 meters looking forward 0.000000 meters along route # Maximum depth: 1178.502287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.502287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.813301; longitude = -121.884569; captureRadius = 10; duration = 128; initialDepth = 1127.451889; finalDepth = 1128.502287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1128.502287 # Seafloor depth:-1178.502287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1177.451889 meters looking forward 0.000000 meters along route # Maximum depth: 1177.451889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.451889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.814131; longitude = -121.883890; captureRadius = 10; duration = 128; initialDepth = 1125.810331; finalDepth = 1127.451889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1127.451889 # Seafloor depth:-1177.451889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1175.810331 meters looking forward 0.000000 meters along route # Maximum depth: 1175.810331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.810331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.814960; longitude = -121.883211; captureRadius = 10; duration = 128; initialDepth = 1126.928244; finalDepth = 1125.810331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1125.810331 # Seafloor depth:-1175.810331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1176.928244 meters looking forward 0.000000 meters along route # Maximum depth: 1176.928244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.928244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.815789; longitude = -121.882532; captureRadius = 10; duration = 128; initialDepth = 1123.398232; finalDepth = 1126.928244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1126.928244 # Seafloor depth:-1176.928244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1173.398232 meters looking forward 0.000000 meters along route # Maximum depth: 1173.398232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.398232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.816634; longitude = -121.881840; captureRadius = 10; duration = 128; initialDepth = 1122.086638; finalDepth = 1123.398232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1123.398232 # Seafloor depth:-1173.398232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1172.086638 meters looking forward 0.000000 meters along route # Maximum depth: 1172.086638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.086638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.817447; longitude = -121.881174; captureRadius = 10; duration = 128; initialDepth = 1115.405442; finalDepth = 1122.086638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1122.086638 # Seafloor depth:-1172.086638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1165.405442 meters looking forward 0.000000 meters along route # Maximum depth: 1165.405442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.405442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.818322; longitude = -121.880458; captureRadius = 10; duration = 128; initialDepth = 1112.958643; finalDepth = 1115.405442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1115.405442 # Seafloor depth:-1165.405442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1162.958643 meters looking forward 0.000000 meters along route # Maximum depth: 1162.958643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.958643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.819106; longitude = -121.879816; captureRadius = 10; duration = 128; initialDepth = 1112.905167; finalDepth = 1112.958643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.958643 # Seafloor depth:-1162.958643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1162.905167 meters looking forward 0.000000 meters along route # Maximum depth: 1162.905167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.905167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.820010; longitude = -121.879076; captureRadius = 10; duration = 128; initialDepth = 1113.304575; finalDepth = 1112.905167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1112.905167 # Seafloor depth:-1162.905167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1163.304575 meters looking forward 0.000000 meters along route # Maximum depth: 1163.304575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.304575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.820764; longitude = -121.878458; captureRadius = 10; duration = 128; initialDepth = 1108.286858; finalDepth = 1113.304575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1113.304575 # Seafloor depth:-1163.304575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1158.286858 meters looking forward 0.000000 meters along route # Maximum depth: 1158.286858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.286858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.821593; longitude = -121.877779; captureRadius = 10; duration = 128; initialDepth = 1110.007459; finalDepth = 1108.286858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1108.286858 # Seafloor depth:-1158.286858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1160.007459 meters looking forward 0.000000 meters along route # Maximum depth: 1160.007459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.007459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.822423; longitude = -121.877100; captureRadius = 10; duration = 128; initialDepth = 1105.678057; finalDepth = 1110.007459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1110.007459 # Seafloor depth:-1160.007459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1155.678057 meters looking forward 0.000000 meters along route # Maximum depth: 1155.678057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.678057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.823386; longitude = -121.876312; captureRadius = 10; duration = 128; initialDepth = 1102.621338; finalDepth = 1105.678057; 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:1105.678057 # Seafloor depth:-1155.678057 # 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 128.275157 meters # Minimum depth: 1152.621338 meters looking forward 0.000000 meters along route # Maximum depth: 1152.621338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.621338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.824173; longitude = -121.875667; captureRadius = 10; duration = 128; # abortOnTimeout = True; initialDepth = 1100.961729; finalDepth = 1102.621338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1102.621338 # Seafloor depth:-1152.621338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1150.961729 meters looking forward 0.000000 meters along route # Maximum depth: 1150.961729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1100.961729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.824078; longitude = -121.875482; captureRadius = 10; duration = 128; initialDepth = 1101.114733; finalDepth = 1100.961729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1100.961729 # Seafloor depth:-1150.961729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1151.114733 meters looking forward 0.000000 meters along route # Maximum depth: 1151.114733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.114733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.823506; longitude = -121.874377; captureRadius = 10; duration = 128; initialDepth = 1098.524323; finalDepth = 1101.114733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1101.114733 # Seafloor depth:-1151.114733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1148.524323 meters looking forward 0.000000 meters along route # Maximum depth: 1148.524323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.524323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.822934; longitude = -121.873271; captureRadius = 10; duration = 128; initialDepth = 1096.725555; finalDepth = 1098.524323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1098.524323 # Seafloor depth:-1148.524323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1146.725555 meters looking forward 0.000000 meters along route # Maximum depth: 1146.725555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.725555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.822362; longitude = -121.872166; captureRadius = 10; duration = 128; initialDepth = 1096.771670; finalDepth = 1096.725555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.725555 # Seafloor depth:-1146.725555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1146.771670 meters looking forward 0.000000 meters along route # Maximum depth: 1146.771670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.771670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.821870; longitude = -121.871214; captureRadius = 10; duration = 128; initialDepth = 1093.748188; finalDepth = 1096.771670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1096.77167 # Seafloor depth:-1146.771670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1143.748188 meters looking forward 0.000000 meters along route # Maximum depth: 1143.748188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.748188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.821317; longitude = -121.870146; captureRadius = 10; duration = 128; initialDepth = 1093.527474; finalDepth = 1093.748188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.748188 # Seafloor depth:-1143.748188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1143.527474 meters looking forward 0.000000 meters along route # Maximum depth: 1143.527474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.527474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.820764; longitude = -121.869077; captureRadius = 10; duration = 128; initialDepth = 1097.850464; finalDepth = 1093.527474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.527474 # Seafloor depth:-1143.527474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1147.850464 meters looking forward 0.000000 meters along route # Maximum depth: 1147.850464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1097.850464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.820211; longitude = -121.868008; captureRadius = 10; duration = 128; initialDepth = 1095.276274; finalDepth = 1097.850464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1097.850464 # Seafloor depth:-1147.850464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1145.276274 meters looking forward 0.000000 meters along route # Maximum depth: 1145.276274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.276274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.819645; longitude = -121.866914; captureRadius = 10; duration = 128; initialDepth = 1088.562017; finalDepth = 1095.276274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1095.276274 # Seafloor depth:-1145.276274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1138.562017 meters looking forward 0.000000 meters along route # Maximum depth: 1138.562017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.562017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.819073; longitude = -121.865808; captureRadius = 10; duration = 128; initialDepth = 1093.533361; finalDepth = 1088.562017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1088.562017 # Seafloor depth:-1138.562017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1143.533361 meters looking forward 0.000000 meters along route # Maximum depth: 1143.533361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1093.533361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.818501; longitude = -121.864703; captureRadius = 10; duration = 128; initialDepth = 1085.986837; finalDepth = 1093.533361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1093.533361 # Seafloor depth:-1143.533361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1135.986837 meters looking forward 0.000000 meters along route # Maximum depth: 1135.986837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.986837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.818000; longitude = -121.863734; captureRadius = 10; duration = 128; initialDepth = 1084.389550; finalDepth = 1085.986837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1085.986837 # Seafloor depth:-1135.986837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1134.389550 meters looking forward 0.000000 meters along route # Maximum depth: 1134.389550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1084.389550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.817447; longitude = -121.862665; captureRadius = 10; duration = 128; initialDepth = 1082.694789; finalDepth = 1084.389550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1084.38955 # Seafloor depth:-1134.389550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1132.694789 meters looking forward 0.000000 meters along route # Maximum depth: 1132.694789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.694789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.816895; longitude = -121.861597; captureRadius = 10; duration = 128; initialDepth = 1080.636681; finalDepth = 1082.694789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1082.694789 # Seafloor depth:-1132.694789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1130.636681 meters looking forward 0.000000 meters along route # Maximum depth: 1130.636681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.636681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.816342; longitude = -121.860528; captureRadius = 10; duration = 128; initialDepth = 1078.176371; finalDepth = 1080.636681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.636681 # Seafloor depth:-1130.636681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1128.176371 meters looking forward 0.000000 meters along route # Maximum depth: 1128.176371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.176371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.815785; longitude = -121.859451; captureRadius = 10; duration = 128; initialDepth = 1080.159689; finalDepth = 1078.176371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1078.176371 # Seafloor depth:-1128.176371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1130.159689 meters looking forward 0.000000 meters along route # Maximum depth: 1130.159689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.159689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.815213; longitude = -121.858345; captureRadius = 10; duration = 128; initialDepth = 1076.134409; finalDepth = 1080.159689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1080.159689 # Seafloor depth:-1130.159689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1126.134409 meters looking forward 0.000000 meters along route # Maximum depth: 1126.134409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.134409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.814641; longitude = -121.857240; captureRadius = 10; duration = 128; initialDepth = 1073.659483; finalDepth = 1076.134409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1076.134409 # Seafloor depth:-1126.134409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1123.659483 meters looking forward 0.000000 meters along route # Maximum depth: 1123.659483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.659483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.814069; longitude = -121.856134; captureRadius = 10; duration = 128; initialDepth = 1071.752071; finalDepth = 1073.659483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1073.659483 # Seafloor depth:-1123.659483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1121.752071 meters looking forward 0.000000 meters along route # Maximum depth: 1121.752071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.752071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.813578; longitude = -121.855185; captureRadius = 10; duration = 128; initialDepth = 1069.929416; finalDepth = 1071.752071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1071.752071 # Seafloor depth:-1121.752071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1119.929416 meters looking forward 0.000000 meters along route # Maximum depth: 1119.929416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.929416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.813025; longitude = -121.854116; captureRadius = 10; duration = 128; initialDepth = 1066.636868; finalDepth = 1069.929416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1069.929416 # Seafloor depth:-1119.929416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1116.636868 meters looking forward 0.000000 meters along route # Maximum depth: 1116.636868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.636868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.812472; longitude = -121.853048; captureRadius = 10; duration = 128; initialDepth = 1068.561223; finalDepth = 1066.636868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1066.636868 # Seafloor depth:-1116.636868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1118.561223 meters looking forward 0.000000 meters along route # Maximum depth: 1118.561223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.561223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811919; longitude = -121.851979; captureRadius = 10; duration = 128; initialDepth = 1063.742110; finalDepth = 1068.561223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1068.561223 # Seafloor depth:-1118.561223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1113.742110 meters looking forward 0.000000 meters along route # Maximum depth: 1113.742110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.742110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.811352; longitude = -121.850883; captureRadius = 10; duration = 128; initialDepth = 1064.292597; finalDepth = 1063.742110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1063.74211 # Seafloor depth:-1113.742110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1114.292597 meters looking forward 0.000000 meters along route # Maximum depth: 1114.292597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.292597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810780; longitude = -121.849777; captureRadius = 10; duration = 128; initialDepth = 1060.847969; finalDepth = 1064.292597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1064.292597 # Seafloor depth:-1114.292597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1110.847969 meters looking forward 0.000000 meters along route # Maximum depth: 1110.847969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.847969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.810208; longitude = -121.848671; captureRadius = 10; duration = 128; initialDepth = 1057.914456; finalDepth = 1060.847969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.847969 # Seafloor depth:-1110.847969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1107.914456 meters looking forward 0.000000 meters along route # Maximum depth: 1107.914456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.914456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809708; longitude = -121.847704; captureRadius = 10; duration = 128; initialDepth = 1055.380661; finalDepth = 1057.914456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.914456 # Seafloor depth:-1107.914456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1105.380661 meters looking forward 0.000000 meters along route # Maximum depth: 1105.380661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.380661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.809155; longitude = -121.846636; captureRadius = 10; duration = 128; initialDepth = 1059.800885; finalDepth = 1055.380661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.380661 # Seafloor depth:-1105.380661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1109.800885 meters looking forward 0.000000 meters along route # Maximum depth: 1109.800885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.800885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808602; longitude = -121.845567; captureRadius = 10; duration = 128; initialDepth = 1057.486266; finalDepth = 1059.800885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.800885 # Seafloor depth:-1109.800885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1107.486266 meters looking forward 0.000000 meters along route # Maximum depth: 1107.486266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.486266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.808050; longitude = -121.844499; captureRadius = 10; duration = 128; initialDepth = 1051.762660; finalDepth = 1057.486266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.486266 # Seafloor depth:-1107.486266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1101.762660 meters looking forward 0.000000 meters along route # Maximum depth: 1101.762660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.762660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.807492; longitude = -121.843420; captureRadius = 10; duration = 128; initialDepth = 1053.215929; finalDepth = 1051.762660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.76266 # Seafloor depth:-1101.762660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1103.215929 meters looking forward 0.000000 meters along route # Maximum depth: 1103.215929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.215929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806920; longitude = -121.842314; captureRadius = 10; duration = 128; initialDepth = 1056.681600; finalDepth = 1053.215929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.215929 # Seafloor depth:-1103.215929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1106.681600 meters looking forward 0.000000 meters along route # Maximum depth: 1106.681600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.681600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.806348; longitude = -121.841208; captureRadius = 10; duration = 128; initialDepth = 1052.486434; finalDepth = 1056.681600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.6816 # Seafloor depth:-1106.681600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1102.486434 meters looking forward 0.000000 meters along route # Maximum depth: 1102.486434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.486434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805776; longitude = -121.840103; captureRadius = 10; duration = 128; initialDepth = 1048.030165; finalDepth = 1052.486434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.486434 # Seafloor depth:-1102.486434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1098.030165 meters looking forward 0.000000 meters along route # Maximum depth: 1098.030165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.030165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.805286; longitude = -121.839155; captureRadius = 10; duration = 128; initialDepth = 1045.705695; finalDepth = 1048.030165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.030165 # Seafloor depth:-1098.030165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1095.705695 meters looking forward 0.000000 meters along route # Maximum depth: 1095.705695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.705695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804733; longitude = -121.838087; captureRadius = 10; duration = 128; initialDepth = 1038.791530; finalDepth = 1045.705695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.705695 # Seafloor depth:-1095.705695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1088.791530 meters looking forward 0.000000 meters along route # Maximum depth: 1088.791530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.791530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.804180; longitude = -121.837018; captureRadius = 10; duration = 128; initialDepth = 1037.487175; finalDepth = 1038.791530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.79153 # Seafloor depth:-1088.791530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1087.487175 meters looking forward 0.000000 meters along route # Maximum depth: 1087.487175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.487175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803627; longitude = -121.835950; captureRadius = 10; duration = 128; initialDepth = 1040.304307; finalDepth = 1037.487175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.487175 # Seafloor depth:-1087.487175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1090.304307 meters looking forward 0.000000 meters along route # Maximum depth: 1090.304307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.304307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.803059; longitude = -121.834851; captureRadius = 10; duration = 128; initialDepth = 1036.671463; finalDepth = 1040.304307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.304307 # Seafloor depth:-1090.304307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1086.671463 meters looking forward 0.000000 meters along route # Maximum depth: 1086.671463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.671463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802487; longitude = -121.833746; captureRadius = 10; duration = 128; initialDepth = 1036.644301; finalDepth = 1036.671463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.671463 # Seafloor depth:-1086.671463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1086.644301 meters looking forward 0.000000 meters along route # Maximum depth: 1086.644301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.644301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801915; longitude = -121.832640; captureRadius = 10; duration = 128; initialDepth = 1032.767219; finalDepth = 1036.644301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.644301 # Seafloor depth:-1086.644301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1082.767219 meters looking forward 0.000000 meters along route # Maximum depth: 1082.767219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.767219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.831675; captureRadius = 10; duration = 128; initialDepth = 1027.650299; finalDepth = 1032.767219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.767219 # Seafloor depth:-1082.767219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1077.650299 meters looking forward 0.000000 meters along route # Maximum depth: 1077.650299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.650299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.830606; captureRadius = 10; duration = 128; initialDepth = 1026.350924; finalDepth = 1027.650299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.650299 # Seafloor depth:-1077.650299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1076.350924 meters looking forward 0.000000 meters along route # Maximum depth: 1076.350924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.350924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800310; longitude = -121.829538; captureRadius = 10; duration = 128; initialDepth = 1025.499262; finalDepth = 1026.350924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.350924 # Seafloor depth:-1076.350924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1075.499262 meters looking forward 0.000000 meters along route # Maximum depth: 1075.499262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.499262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.828469; captureRadius = 10; duration = 128; initialDepth = 1023.654342; finalDepth = 1025.499262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.499262 # Seafloor depth:-1075.499262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1073.654342 meters looking forward 0.000000 meters along route # Maximum depth: 1073.654342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.654342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799198; longitude = -121.827388; captureRadius = 10; duration = 128; initialDepth = 1024.598945; finalDepth = 1023.654342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.654342 # Seafloor depth:-1073.654342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1074.598945 meters looking forward 0.000000 meters along route # Maximum depth: 1074.598945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.598945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798626; longitude = -121.826283; captureRadius = 10; duration = 128; initialDepth = 1021.038678; finalDepth = 1024.598945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.598945 # Seafloor depth:-1074.598945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1071.038678 meters looking forward 0.000000 meters along route # Maximum depth: 1071.038678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.038678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798054; longitude = -121.825177; captureRadius = 10; duration = 128; initialDepth = 1019.405865; finalDepth = 1021.038678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.038678 # Seafloor depth:-1071.038678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1069.405865 meters looking forward 0.000000 meters along route # Maximum depth: 1069.405865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.405865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797483; longitude = -121.824071; captureRadius = 10; duration = 128; initialDepth = 1017.002561; finalDepth = 1019.405865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.405865 # Seafloor depth:-1069.405865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1067.002561 meters looking forward 0.000000 meters along route # Maximum depth: 1067.002561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.002561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.823126; captureRadius = 10; duration = 128; initialDepth = 1016.534768; finalDepth = 1017.002561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.002561 # Seafloor depth:-1067.002561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1066.534768 meters looking forward 0.000000 meters along route # Maximum depth: 1066.534768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.534768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.822057; captureRadius = 10; duration = 128; initialDepth = 1014.858034; finalDepth = 1016.534768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.534768 # Seafloor depth:-1066.534768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1064.858034 meters looking forward 0.000000 meters along route # Maximum depth: 1064.858034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.858034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.820989; captureRadius = 10; duration = 128; initialDepth = 1011.542583; finalDepth = 1014.858034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.858034 # Seafloor depth:-1064.858034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1061.542583 meters looking forward 0.000000 meters along route # Maximum depth: 1061.542583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.542583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.819920; captureRadius = 10; duration = 128; initialDepth = 1009.439041; finalDepth = 1011.542583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.542583 # Seafloor depth:-1061.542583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1059.439041 meters looking forward 0.000000 meters along route # Maximum depth: 1059.439041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.439041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794766; longitude = -121.818820; captureRadius = 10; duration = 128; initialDepth = 1017.495464; finalDepth = 1009.439041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.439041 # Seafloor depth:-1059.439041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1067.495464 meters looking forward 0.000000 meters along route # Maximum depth: 1067.495464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.495464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794194; longitude = -121.817714; captureRadius = 10; duration = 128; initialDepth = 1016.346021; finalDepth = 1017.495464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.495464 # Seafloor depth:-1067.495464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1066.346021 meters looking forward 0.000000 meters along route # Maximum depth: 1066.346021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.346021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793622; longitude = -121.816608; captureRadius = 10; duration = 128; initialDepth = 1011.834118; finalDepth = 1016.346021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.346021 # Seafloor depth:-1066.346021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1061.834118 meters looking forward 0.000000 meters along route # Maximum depth: 1061.834118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.834118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.815646; captureRadius = 10; duration = 128; initialDepth = 1015.505006; finalDepth = 1011.834118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.834118 # Seafloor depth:-1061.834118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1065.505006 meters looking forward 0.000000 meters along route # Maximum depth: 1065.505006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.505006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.814577; captureRadius = 10; duration = 128; initialDepth = 1015.148708; finalDepth = 1015.505006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.505006 # Seafloor depth:-1065.505006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1065.148708 meters looking forward 0.000000 meters along route # Maximum depth: 1065.148708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.148708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.813508; captureRadius = 10; duration = 128; initialDepth = 1009.785802; finalDepth = 1015.148708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.148708 # Seafloor depth:-1065.148708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1059.785802 meters looking forward 0.000000 meters along route # Maximum depth: 1059.785802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.785802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.812440; captureRadius = 10; duration = 128; initialDepth = 1003.923469; finalDepth = 1009.785802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.785802 # Seafloor depth:-1059.785802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1053.923469 meters looking forward 0.000000 meters along route # Maximum depth: 1053.923469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.923469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790905; longitude = -121.811357; captureRadius = 10; duration = 128; initialDepth = 1003.151670; finalDepth = 1003.923469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.923469 # Seafloor depth:-1053.923469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1053.151670 meters looking forward 0.000000 meters along route # Maximum depth: 1053.151670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.151670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790333; longitude = -121.810251; captureRadius = 10; duration = 128; initialDepth = 1001.412357; finalDepth = 1003.151670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1003.15167 # Seafloor depth:-1053.151670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1051.412357 meters looking forward 0.000000 meters along route # Maximum depth: 1051.412357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.412357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789761; longitude = -121.809146; captureRadius = 10; duration = 128; initialDepth = 1000.186131; finalDepth = 1001.412357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1001.412357 # Seafloor depth:-1051.412357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1050.186131 meters looking forward 0.000000 meters along route # Maximum depth: 1050.186131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.186131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789189; longitude = -121.808040; captureRadius = 10; duration = 128; initialDepth = 996.498981; finalDepth = 1000.186131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1000.186131 # Seafloor depth:-1050.186131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1046.498981 meters looking forward 0.000000 meters along route # Maximum depth: 1046.498981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.498981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.807097; captureRadius = 10; duration = 128; initialDepth = 996.436453; finalDepth = 996.498981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.498981 # Seafloor depth:-1046.498981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1046.436453 meters looking forward 0.000000 meters along route # Maximum depth: 1046.436453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.436453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.806028; captureRadius = 10; duration = 128; initialDepth = 994.701211; finalDepth = 996.436453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:996.436453 # Seafloor depth:-1046.436453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1044.701211 meters looking forward 0.000000 meters along route # Maximum depth: 1044.701211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.701211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.804959; captureRadius = 10; duration = 128; initialDepth = 995.188839; finalDepth = 994.701211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.701211 # Seafloor depth:-1044.701211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1045.188839 meters looking forward 0.000000 meters along route # Maximum depth: 1045.188839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.188839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.803891; captureRadius = 10; duration = 128; initialDepth = 994.242188; finalDepth = 995.188839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:995.188839 # Seafloor depth:-1045.188839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1044.242188 meters looking forward 0.000000 meters along route # Maximum depth: 1044.242188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.242188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786473; longitude = -121.802788; captureRadius = 10; duration = 128; initialDepth = 991.212675; finalDepth = 994.242188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:994.242188 # Seafloor depth:-1044.242188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1041.212675 meters looking forward 0.000000 meters along route # Maximum depth: 1041.212675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.212675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785901; longitude = -121.801683; captureRadius = 10; duration = 128; initialDepth = 991.218111; finalDepth = 991.212675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.212675 # Seafloor depth:-1041.212675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1041.218111 meters looking forward 0.000000 meters along route # Maximum depth: 1041.218111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.218111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785329; longitude = -121.800577; captureRadius = 10; duration = 128; initialDepth = 989.011327; finalDepth = 991.218111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:991.218111 # Seafloor depth:-1041.218111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1039.011327 meters looking forward 0.000000 meters along route # Maximum depth: 1039.011327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.011327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.799616; captureRadius = 10; duration = 128; initialDepth = 986.040731; finalDepth = 989.011327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:989.011327 # Seafloor depth:-1039.011327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1036.040731 meters looking forward 0.000000 meters along route # Maximum depth: 1036.040731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.040731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.798548; captureRadius = 10; duration = 128; initialDepth = 984.515423; finalDepth = 986.040731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:986.040731 # Seafloor depth:-1036.040731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1034.515423 meters looking forward 0.000000 meters along route # Maximum depth: 1034.515423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.515423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.797479; captureRadius = 10; duration = 128; initialDepth = 981.907382; finalDepth = 984.515423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:984.515423 # Seafloor depth:-1034.515423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1031.907382 meters looking forward 0.000000 meters along route # Maximum depth: 1031.907382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.907382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.796410; captureRadius = 10; duration = 128; initialDepth = 982.812770; finalDepth = 981.907382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:981.907382 # Seafloor depth:-1031.907382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1032.812770 meters looking forward 0.000000 meters along route # Maximum depth: 1032.812770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.812770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782612; longitude = -121.795325; captureRadius = 10; duration = 128; initialDepth = 982.153882; finalDepth = 982.812770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.81277 # Seafloor depth:-1032.812770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1032.153882 meters looking forward 0.000000 meters along route # Maximum depth: 1032.153882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.153882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782040; longitude = -121.794220; captureRadius = 10; duration = 128; initialDepth = 978.108667; finalDepth = 982.153882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:982.153882 # Seafloor depth:-1032.153882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1028.108667 meters looking forward 0.000000 meters along route # Maximum depth: 1028.108667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.108667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781468; longitude = -121.793114; captureRadius = 10; duration = 128; initialDepth = 976.177880; finalDepth = 978.108667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.108667 # Seafloor depth:-1028.108667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1026.177880 meters looking forward 0.000000 meters along route # Maximum depth: 1026.177880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.177880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780896; longitude = -121.792009; captureRadius = 10; duration = 128; initialDepth = 978.545544; finalDepth = 976.177880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.17788 # Seafloor depth:-1026.177880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1028.545544 meters looking forward 0.000000 meters along route # Maximum depth: 1028.545544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.545544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.791067; captureRadius = 10; duration = 128; initialDepth = 976.404779; finalDepth = 978.545544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:978.545544 # Seafloor depth:-1028.545544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1026.404779 meters looking forward 0.000000 meters along route # Maximum depth: 1026.404779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.404779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.789999; captureRadius = 10; duration = 128; initialDepth = 975.837234; finalDepth = 976.404779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.404779 # Seafloor depth:-1026.404779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1025.837234 meters looking forward 0.000000 meters along route # Maximum depth: 1025.837234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.837234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.788930; captureRadius = 10; duration = 128; initialDepth = 973.635365; finalDepth = 975.837234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:975.837234 # Seafloor depth:-1025.837234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1023.635365 meters looking forward 0.000000 meters along route # Maximum depth: 1023.635365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.635365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.787861; captureRadius = 10; duration = 128; initialDepth = 976.067706; finalDepth = 973.635365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:973.635365 # Seafloor depth:-1023.635365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1026.067706 meters looking forward 0.000000 meters along route # Maximum depth: 1026.067706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.067706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778179; longitude = -121.786757; captureRadius = 10; duration = 128; initialDepth = 972.132696; finalDepth = 976.067706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:976.067706 # Seafloor depth:-1026.067706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1022.132696 meters looking forward 0.000000 meters along route # Maximum depth: 1022.132696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.132696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777607; longitude = -121.785651; captureRadius = 10; duration = 128; initialDepth = 971.228158; finalDepth = 972.132696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:972.132696 # Seafloor depth:-1022.132696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1021.228158 meters looking forward 0.000000 meters along route # Maximum depth: 1021.228158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.228158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777036; longitude = -121.784546; captureRadius = 10; duration = 128; initialDepth = 967.957459; finalDepth = 971.228158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:971.228158 # Seafloor depth:-1021.228158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1017.957459 meters looking forward 0.000000 meters along route # Maximum depth: 1017.957459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.957459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.783587; captureRadius = 10; duration = 128; initialDepth = 970.476563; finalDepth = 967.957459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:967.957459 # Seafloor depth:-1017.957459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1020.476563 meters looking forward 0.000000 meters along route # Maximum depth: 1020.476563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.476563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.782518; captureRadius = 10; duration = 128; initialDepth = 964.510277; finalDepth = 970.476563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:970.476563 # Seafloor depth:-1020.476563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1014.510277 meters looking forward 0.000000 meters along route # Maximum depth: 1014.510277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.510277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.781450; captureRadius = 10; duration = 128; initialDepth = 962.281908; finalDepth = 964.510277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:964.510277 # Seafloor depth:-1014.510277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1012.281908 meters looking forward 0.000000 meters along route # Maximum depth: 1012.281908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.281908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.780381; captureRadius = 10; duration = 128; initialDepth = 962.603714; finalDepth = 962.281908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.281908 # Seafloor depth:-1012.281908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1012.603714 meters looking forward 0.000000 meters along route # Maximum depth: 1012.603714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.603714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774319; longitude = -121.779294; captureRadius = 10; duration = 128; initialDepth = 959.378545; finalDepth = 962.603714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:962.603714 # Seafloor depth:-1012.603714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1009.378545 meters looking forward 0.000000 meters along route # Maximum depth: 1009.378545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.378545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773747; longitude = -121.778188; captureRadius = 10; duration = 128; initialDepth = 956.169917; finalDepth = 959.378545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:959.378545 # Seafloor depth:-1009.378545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1006.169917 meters looking forward 0.000000 meters along route # Maximum depth: 1006.169917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.169917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773175; longitude = -121.777083; captureRadius = 10; duration = 128; initialDepth = 957.538598; finalDepth = 956.169917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:956.169917 # Seafloor depth:-1006.169917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1007.538598 meters looking forward 0.000000 meters along route # Maximum depth: 1007.538598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.538598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772603; longitude = -121.775977; captureRadius = 10; duration = 128; initialDepth = 951.171787; finalDepth = 957.538598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:957.538598 # Seafloor depth:-1007.538598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1001.171787 meters looking forward 0.000000 meters along route # Maximum depth: 1001.171787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.171787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.775038; captureRadius = 10; duration = 128; initialDepth = 952.183888; finalDepth = 951.171787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:951.171787 # Seafloor depth:-1001.171787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1002.183888 meters looking forward 0.000000 meters along route # Maximum depth: 1002.183888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.183888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.773969; captureRadius = 10; duration = 128; initialDepth = 952.044982; finalDepth = 952.183888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.183888 # Seafloor depth:-1002.183888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1002.044982 meters looking forward 0.000000 meters along route # Maximum depth: 1002.044982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.044982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.772901; captureRadius = 10; duration = 128; initialDepth = 952.245462; finalDepth = 952.044982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.044982 # Seafloor depth:-1002.044982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 1002.245462 meters looking forward 0.000000 meters along route # Maximum depth: 1002.245462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.245462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770458; longitude = -121.771831; captureRadius = 10; duration = 128; initialDepth = 946.947524; finalDepth = 952.245462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:952.245462 # Seafloor depth:-1002.245462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 996.947524 meters looking forward 0.000000 meters along route # Maximum depth: 996.947524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.947524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769886; longitude = -121.770725; captureRadius = 10; duration = 128; initialDepth = 943.224607; finalDepth = 946.947524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:946.947524 # Seafloor depth:-996.947524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 993.224607 meters looking forward 0.000000 meters along route # Maximum depth: 993.224607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.224607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769314; longitude = -121.769620; captureRadius = 10; duration = 128; initialDepth = 941.515893; finalDepth = 943.224607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:943.224607 # Seafloor depth:-993.224607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 991.515893 meters looking forward 0.000000 meters along route # Maximum depth: 991.515893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.515893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768742; longitude = -121.768514; captureRadius = 10; duration = 128; initialDepth = 938.419394; finalDepth = 941.515893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:941.515893 # Seafloor depth:-991.515893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 988.419394 meters looking forward 0.000000 meters along route # Maximum depth: 988.419394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.419394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.767558; captureRadius = 10; duration = 128; initialDepth = 937.251677; finalDepth = 938.419394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:938.419394 # Seafloor depth:-988.419394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 987.251677 meters looking forward 0.000000 meters along route # Maximum depth: 987.251677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.251677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.766489; captureRadius = 10; duration = 128; initialDepth = 937.512618; finalDepth = 937.251677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.251677 # Seafloor depth:-987.251677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 987.512618 meters looking forward 0.000000 meters along route # Maximum depth: 987.512618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.512618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.765420; captureRadius = 10; duration = 128; initialDepth = 937.231777; finalDepth = 937.512618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.512618 # Seafloor depth:-987.512618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 987.231777 meters looking forward 0.000000 meters along route # Maximum depth: 987.231777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.231777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.764352; captureRadius = 10; duration = 128; initialDepth = 934.251056; finalDepth = 937.231777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:937.231777 # Seafloor depth:-987.231777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 984.251056 meters looking forward 0.000000 meters along route # Maximum depth: 984.251056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.251056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766026; longitude = -121.763263; captureRadius = 10; duration = 128; initialDepth = 933.588293; finalDepth = 934.251056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:934.251056 # Seafloor depth:-984.251056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 983.588293 meters looking forward 0.000000 meters along route # Maximum depth: 983.588293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.588293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765454; longitude = -121.762157; captureRadius = 10; duration = 128; initialDepth = 930.726758; finalDepth = 933.588293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:933.588293 # Seafloor depth:-983.588293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 980.726758 meters looking forward 0.000000 meters along route # Maximum depth: 980.726758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.726758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764882; longitude = -121.761051; captureRadius = 10; duration = 128; initialDepth = 930.108680; finalDepth = 930.726758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.726758 # Seafloor depth:-980.726758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 980.108680 meters looking forward 0.000000 meters along route # Maximum depth: 980.108680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.108680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764310; longitude = -121.759946; captureRadius = 10; duration = 128; initialDepth = 929.465012; finalDepth = 930.108680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:930.10868 # Seafloor depth:-980.108680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 979.465012 meters looking forward 0.000000 meters along route # Maximum depth: 979.465012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.465012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.759009; captureRadius = 10; duration = 128; initialDepth = 927.366802; finalDepth = 929.465012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:929.465012 # Seafloor depth:-979.465012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 977.366802 meters looking forward 0.000000 meters along route # Maximum depth: 977.366802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.366802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.757940; captureRadius = 10; duration = 128; initialDepth = 925.116541; finalDepth = 927.366802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:927.366802 # Seafloor depth:-977.366802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 975.116541 meters looking forward 0.000000 meters along route # Maximum depth: 975.116541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.116541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.756871; captureRadius = 10; duration = 128; initialDepth = 924.104739; finalDepth = 925.116541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:925.116541 # Seafloor depth:-975.116541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 974.104739 meters looking forward 0.000000 meters along route # Maximum depth: 974.104739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.104739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762165; longitude = -121.755800; captureRadius = 10; duration = 128; initialDepth = 922.302380; finalDepth = 924.104739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:924.104739 # Seafloor depth:-974.104739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 972.302380 meters looking forward 0.000000 meters along route # Maximum depth: 972.302380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.302380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761593; longitude = -121.754694; captureRadius = 10; duration = 128; initialDepth = 919.268076; finalDepth = 922.302380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:922.30238 # Seafloor depth:-972.302380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 969.268076 meters looking forward 0.000000 meters along route # Maximum depth: 969.268076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.268076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761021; longitude = -121.753588; captureRadius = 10; duration = 128; initialDepth = 920.374080; finalDepth = 919.268076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.268076 # Seafloor depth:-969.268076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 970.374080 meters looking forward 0.000000 meters along route # Maximum depth: 970.374080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.374080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760449; longitude = -121.752483; captureRadius = 10; duration = 128; initialDepth = 919.929449; finalDepth = 920.374080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:920.37408 # Seafloor depth:-970.374080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 969.929449 meters looking forward 0.000000 meters along route # Maximum depth: 969.929449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.929449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.751528; captureRadius = 10; duration = 128; initialDepth = 916.215945; finalDepth = 919.929449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:919.929449 # Seafloor depth:-969.929449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 966.215945 meters looking forward 0.000000 meters along route # Maximum depth: 966.215945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.215945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.750460; captureRadius = 10; duration = 128; initialDepth = 917.463371; finalDepth = 916.215945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.215945 # Seafloor depth:-966.215945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 967.463371 meters looking forward 0.000000 meters along route # Maximum depth: 967.463371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.463371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.749391; captureRadius = 10; duration = 128; initialDepth = 916.454240; finalDepth = 917.463371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:917.463371 # Seafloor depth:-967.463371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 966.454240 meters looking forward 0.000000 meters along route # Maximum depth: 966.454240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.454240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.748322; captureRadius = 10; duration = 128; initialDepth = 911.054926; finalDepth = 916.454240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:916.45424 # Seafloor depth:-966.454240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 961.054926 meters looking forward 0.000000 meters along route # Maximum depth: 961.054926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.054926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757732; longitude = -121.747231; captureRadius = 10; duration = 128; initialDepth = 912.732183; finalDepth = 911.054926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:911.054926 # Seafloor depth:-961.054926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 962.732183 meters looking forward 0.000000 meters along route # Maximum depth: 962.732183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.732183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757161; longitude = -121.746126; captureRadius = 10; duration = 128; initialDepth = 906.423804; finalDepth = 912.732183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:912.732183 # Seafloor depth:-962.732183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 956.423804 meters looking forward 0.000000 meters along route # Maximum depth: 956.423804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.423804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756589; longitude = -121.745020; captureRadius = 10; duration = 128; initialDepth = 908.481171; finalDepth = 906.423804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.423804 # Seafloor depth:-956.423804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 958.481171 meters looking forward 0.000000 meters along route # Maximum depth: 958.481171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.481171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756017; longitude = -121.743914; captureRadius = 10; duration = 128; initialDepth = 909.300000; finalDepth = 908.481171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:908.481171 # Seafloor depth:-958.481171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 959.300000 meters looking forward 0.000000 meters along route # Maximum depth: 959.300000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.300000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.742979; captureRadius = 10; duration = 128; initialDepth = 906.133139; finalDepth = 909.300000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:909.3 # Seafloor depth:-959.300000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 956.133139 meters looking forward 0.000000 meters along route # Maximum depth: 956.133139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.133139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.741911; captureRadius = 10; duration = 128; initialDepth = 904.427835; finalDepth = 906.133139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:906.133139 # Seafloor depth:-956.133139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 954.427835 meters looking forward 0.000000 meters along route # Maximum depth: 954.427835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.427835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.740842; captureRadius = 10; duration = 128; initialDepth = 903.389534; finalDepth = 904.427835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:904.427835 # Seafloor depth:-954.427835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 953.389534 meters looking forward 0.000000 meters along route # Maximum depth: 953.389534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.389534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753872; longitude = -121.739768; captureRadius = 10; duration = 128; initialDepth = 901.140758; finalDepth = 903.389534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:903.389534 # Seafloor depth:-953.389534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 951.140758 meters looking forward 0.000000 meters along route # Maximum depth: 951.140758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.140758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753300; longitude = -121.738663; captureRadius = 10; duration = 128; initialDepth = 898.047771; finalDepth = 901.140758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:901.140758 # Seafloor depth:-951.140758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 948.047771 meters looking forward 0.000000 meters along route # Maximum depth: 948.047771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.047771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752728; longitude = -121.737557; captureRadius = 10; duration = 128; initialDepth = 900.135750; finalDepth = 898.047771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.047771 # Seafloor depth:-948.047771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 950.135750 meters looking forward 0.000000 meters along route # Maximum depth: 950.135750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.135750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752156; longitude = -121.736451; captureRadius = 10; duration = 128; initialDepth = 898.756662; finalDepth = 900.135750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:900.13575 # Seafloor depth:-950.135750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 948.756662 meters looking forward 0.000000 meters along route # Maximum depth: 948.756662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.756662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751584; longitude = -121.735346; captureRadius = 10; duration = 128; initialDepth = 892.882677; finalDepth = 898.756662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:898.756662 # Seafloor depth:-948.756662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 942.882677 meters looking forward 0.000000 meters along route # Maximum depth: 942.882677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.882677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751012; longitude = -121.734240; captureRadius = 10; duration = 128; initialDepth = 891.996982; finalDepth = 892.882677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:892.882677 # Seafloor depth:-942.882677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 128.275157 meters # Minimum depth: 941.996982 meters looking forward 0.000000 meters along route # Maximum depth: 941.996982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1192.912383 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.996982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750440; longitude = -121.733135; captureRadius = 10; duration = 128; initialDepth = 887.512207; finalDepth = 891.996982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:891.996982 # Seafloor depth:-941.996982 # 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:887.512207 # Seafloor depth:-937.512207 # 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 128.275157 meters # Minimum depth: 937.512207 meters looking forward 0.000000 meters along route # Maximum depth: 937.512207 meters looking forward 0.000000 meters along route # Vehicle depth: 887.512207 meters behavior waypoint { latitude = 35.749821; longitude = -121.731937; captureRadius = 10; duration = 221; depth = 887.512207; 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 887.512207 meters set by local depth and desired altitude behavior descend { duration = 2697; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 877.512207; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 128.275157 meters # Minimum depth: 937.512207 meters looking forward 0.000000 meters along route # Maximum depth: 937.512207 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.749821; longitude = -121.731937; 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 = 301.711646; 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 = 301.711646; 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; } # ####################################################### #######################################################