# 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_4v3.rte # Mission File: Lucia2008_4v3.cfg # Distance: 86950.665103 (m) # Estimated Time: 60857 (s) 16.905 (hr) # Abort Time: 61671 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1328 (s) # Way Points: 26 # Route Points: 804 # 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: 1086.837361 (m) # Abort Vehicle Depth: 1111.837361 (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 -121.855874 35.741240 -1074.885010 0.000000 3 # 1 -121.813306 35.794308 -1056.724731 7032.877667 4 # 2 -121.814695 35.795048 -1058.750366 7182.862712 3 # 3 -121.857263 35.741980 -1073.785736 14215.719172 4 # 4 -121.858651 35.742720 -1076.959961 14365.695459 3 # 5 -121.816084 35.795788 -1059.922546 21398.481249 4 # 6 -121.817473 35.796528 -1058.640900 21548.464257 3 # 7 -121.860040 35.743459 -1080.933197 28581.321706 4 # 8 -121.861429 35.744199 -1080.838043 28731.371656 3 # 9 -121.818862 35.797268 -1060.077881 35764.207906 4 # 10 -121.820251 35.798009 -1062.260193 35914.249616 3 # 11 -121.862817 35.744939 -1087.411133 42947.108046 4 # 12 -121.864206 35.745678 -1093.752838 43097.095312 3 # 13 -121.821641 35.798749 -1064.456879 50129.975954 4 # 14 -121.823030 35.799489 -1067.678986 50279.954886 3 # 15 -121.865595 35.746418 -1098.388947 57312.814338 4 # 16 -121.866983 35.747158 -1094.093842 57462.784539 3 # 17 -121.824419 35.800229 -1068.904022 64495.573351 4 # 18 -121.825808 35.800969 -1069.689606 64645.550246 3 # 19 -121.868372 35.747897 -1099.834015 71678.410740 4 # 20 -121.869761 35.748637 -1102.956482 71828.454598 3 # 21 -121.827198 35.801709 -1072.462219 78861.244459 4 # 22 -121.828735 35.802437 -1075.633545 79021.905226 1 # 23 -121.871283 35.749473 -1102.910187 86043.904701 1 # 24 -121.872653 35.750064 -1106.767517 86184.060956 1 # 25 -121.868022 35.755853 -1107.461884 86950.665103 1 # # A total of 804 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61671; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1086.837361; abortDepth = 1111.837361; 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 = 1328; 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 25 # Segment length 135.922320 meters # Minimum depth: 1107.461884 meters looking forward 0.000000 meters along route # Maximum depth: 1107.461884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.461884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755853; longitude = -121.868022; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1056.849741; finalDepth = 1057.461884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.461884 # Seafloor depth:-1107.461884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 135.922320 meters # Minimum depth: 1106.849741 meters looking forward 0.000000 meters along route # Maximum depth: 1106.849741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.849741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.868057; captureRadius = 10; duration = 135; initialDepth = 1055.381663; finalDepth = 1056.849741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.849741 # Seafloor depth:-1106.849741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 135.922320 meters # Minimum depth: 1105.381663 meters looking forward 0.000000 meters along route # Maximum depth: 1105.381663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.381663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.868720; captureRadius = 10; duration = 135; initialDepth = 1053.396680; finalDepth = 1055.381663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.381663 # Seafloor depth:-1105.381663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 135.922320 meters # Minimum depth: 1103.396680 meters looking forward 0.000000 meters along route # Maximum depth: 1103.396680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.396680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754128; longitude = -121.869402; captureRadius = 10; duration = 135; initialDepth = 1056.759749; finalDepth = 1053.396680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.39668 # Seafloor depth:-1103.396680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 135.922320 meters # Minimum depth: 1106.759749 meters looking forward 0.000000 meters along route # Maximum depth: 1106.759749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.759749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.870047; captureRadius = 10; duration = 135; initialDepth = 1056.612556; finalDepth = 1056.759749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.759749 # Seafloor depth:-1106.759749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 135.922320 meters # Minimum depth: 1106.612556 meters looking forward 0.000000 meters along route # Maximum depth: 1106.612556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.612556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.870710; captureRadius = 10; duration = 135; initialDepth = 1059.061066; finalDepth = 1056.612556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.612556 # Seafloor depth:-1106.612556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 135.922320 meters # Minimum depth: 1109.061066 meters looking forward 0.000000 meters along route # Maximum depth: 1109.061066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.061066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.871374; captureRadius = 10; duration = 135; initialDepth = 1055.969412; finalDepth = 1059.061066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.061066 # Seafloor depth:-1109.061066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 135.922320 meters # Minimum depth: 1105.969412 meters looking forward 0.000000 meters along route # Maximum depth: 1105.969412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.969412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.872037; captureRadius = 10; duration = 135; initialDepth = 1056.767517; finalDepth = 1055.969412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1055.969412 # Seafloor depth:-1105.969412 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 135.922320 meters # Minimum depth: 1106.767517 meters looking forward 0.000000 meters along route # Maximum depth: 1106.767517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.767517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750064; longitude = -121.872653; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1054.338552; finalDepth = 1056.767517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.767517 # Seafloor depth:-1106.767517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 135.922320 meters # Minimum depth: 1104.338552 meters looking forward 0.000000 meters along route # Maximum depth: 1104.338552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.338552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749973; longitude = -121.872442; captureRadius = 10; duration = 135; initialDepth = 1052.910187; finalDepth = 1054.338552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.338552 # Seafloor depth:-1104.338552 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 135.922320 meters # Minimum depth: 1102.910187 meters looking forward 0.000000 meters along route # Maximum depth: 1102.910187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.910187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749473; longitude = -121.871283; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1054.345714; finalDepth = 1052.910187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.910187 # Seafloor depth:-1102.910187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1104.345714 meters looking forward 0.000000 meters along route # Maximum depth: 1104.345714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.345714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.870856; captureRadius = 10; duration = 135; initialDepth = 1057.353287; finalDepth = 1054.345714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.345714 # Seafloor depth:-1104.345714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1107.353287 meters looking forward 0.000000 meters along route # Maximum depth: 1107.353287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.353287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.870190; captureRadius = 10; duration = 135; initialDepth = 1054.422647; finalDepth = 1057.353287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.353287 # Seafloor depth:-1107.353287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1104.422647 meters looking forward 0.000000 meters along route # Maximum depth: 1104.422647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.422647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.869523; captureRadius = 10; duration = 135; initialDepth = 1052.937233; finalDepth = 1054.422647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.422647 # Seafloor depth:-1104.422647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1102.937233 meters looking forward 0.000000 meters along route # Maximum depth: 1102.937233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.937233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752503; longitude = -121.868849; captureRadius = 10; duration = 135; initialDepth = 1051.755182; finalDepth = 1052.937233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.937233 # Seafloor depth:-1102.937233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1101.755182 meters looking forward 0.000000 meters along route # Maximum depth: 1101.755182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.755182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.868191; captureRadius = 10; duration = 135; initialDepth = 1056.917408; finalDepth = 1051.755182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.755182 # Seafloor depth:-1101.755182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1106.917408 meters looking forward 0.000000 meters along route # Maximum depth: 1106.917408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.917408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754223; longitude = -121.867467; captureRadius = 10; duration = 135; initialDepth = 1058.258813; finalDepth = 1056.917408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.917408 # Seafloor depth:-1106.917408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1108.258813 meters looking forward 0.000000 meters along route # Maximum depth: 1108.258813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.258813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.866859; captureRadius = 10; duration = 135; initialDepth = 1056.950263; finalDepth = 1058.258813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.258813 # Seafloor depth:-1108.258813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1106.950263 meters looking forward 0.000000 meters along route # Maximum depth: 1106.950263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.950263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.866193; captureRadius = 10; duration = 135; initialDepth = 1051.886045; finalDepth = 1056.950263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.950263 # Seafloor depth:-1106.950263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1101.886045 meters looking forward 0.000000 meters along route # Maximum depth: 1101.886045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.886045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.865527; captureRadius = 10; duration = 135; initialDepth = 1051.757419; finalDepth = 1051.886045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.886045 # Seafloor depth:-1101.886045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1101.757419 meters looking forward 0.000000 meters along route # Maximum depth: 1101.757419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.757419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.864861; captureRadius = 10; duration = 135; initialDepth = 1057.332730; finalDepth = 1051.757419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.757419 # Seafloor depth:-1101.757419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1107.332730 meters looking forward 0.000000 meters along route # Maximum depth: 1107.332730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.332730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758352; longitude = -121.864150; captureRadius = 10; duration = 135; initialDepth = 1053.981964; finalDepth = 1057.332730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1057.33273 # Seafloor depth:-1107.332730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1103.981964 meters looking forward 0.000000 meters along route # Maximum depth: 1103.981964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.981964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.863528; captureRadius = 10; duration = 135; initialDepth = 1051.215888; finalDepth = 1053.981964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.981964 # Seafloor depth:-1103.981964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1101.215888 meters looking forward 0.000000 meters along route # Maximum depth: 1101.215888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.215888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.862862; captureRadius = 10; duration = 135; initialDepth = 1050.019744; finalDepth = 1051.215888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.215888 # Seafloor depth:-1101.215888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1100.019744 meters looking forward 0.000000 meters along route # Maximum depth: 1100.019744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.019744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.862196; captureRadius = 10; duration = 135; initialDepth = 1053.773731; finalDepth = 1050.019744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.019744 # Seafloor depth:-1100.019744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1103.773731 meters looking forward 0.000000 meters along route # Maximum depth: 1103.773731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.773731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.861530; captureRadius = 10; duration = 135; initialDepth = 1058.883611; finalDepth = 1053.773731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.773731 # Seafloor depth:-1103.773731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1108.883611 meters looking forward 0.000000 meters along route # Maximum depth: 1108.883611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.883611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762481; longitude = -121.860833; captureRadius = 10; duration = 135; initialDepth = 1056.290671; finalDepth = 1058.883611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.883611 # Seafloor depth:-1108.883611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1106.290671 meters looking forward 0.000000 meters along route # Maximum depth: 1106.290671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.290671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.860198; captureRadius = 10; duration = 135; initialDepth = 1050.861620; finalDepth = 1056.290671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.290671 # Seafloor depth:-1106.290671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1100.861620 meters looking forward 0.000000 meters along route # Maximum depth: 1100.861620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.861620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.859531; captureRadius = 10; duration = 135; initialDepth = 1047.523364; finalDepth = 1050.861620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.86162 # Seafloor depth:-1100.861620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1097.523364 meters looking forward 0.000000 meters along route # Maximum depth: 1097.523364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.523364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.858865; captureRadius = 10; duration = 135; initialDepth = 1049.890680; finalDepth = 1047.523364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.523364 # Seafloor depth:-1097.523364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.890680 meters looking forward 0.000000 meters along route # Maximum depth: 1099.890680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.890680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.858199; captureRadius = 10; duration = 135; initialDepth = 1048.945477; finalDepth = 1049.890680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.89068 # Seafloor depth:-1099.890680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1098.945477 meters looking forward 0.000000 meters along route # Maximum depth: 1098.945477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.945477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766610; longitude = -121.857516; captureRadius = 10; duration = 135; initialDepth = 1061.837361; finalDepth = 1048.945477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.945477 # Seafloor depth:-1098.945477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1111.837361 meters looking forward 0.000000 meters along route # Maximum depth: 1111.837361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.837361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.856867; captureRadius = 10; duration = 135; initialDepth = 1053.340420; finalDepth = 1061.837361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1061.837361 # Seafloor depth:-1111.837361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1103.340420 meters looking forward 0.000000 meters along route # Maximum depth: 1103.340420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.340420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.856201; captureRadius = 10; duration = 135; initialDepth = 1049.603287; finalDepth = 1053.340420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.34042 # Seafloor depth:-1103.340420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.603287 meters looking forward 0.000000 meters along route # Maximum depth: 1099.603287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.603287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.855535; captureRadius = 10; duration = 135; initialDepth = 1050.295132; finalDepth = 1049.603287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.603287 # Seafloor depth:-1099.603287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1100.295132 meters looking forward 0.000000 meters along route # Maximum depth: 1100.295132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.295132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.854868; captureRadius = 10; duration = 135; initialDepth = 1049.605002; finalDepth = 1050.295132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.295132 # Seafloor depth:-1100.295132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.605002 meters looking forward 0.000000 meters along route # Maximum depth: 1099.605002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.605002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770739; longitude = -121.854199; captureRadius = 10; duration = 135; initialDepth = 1050.062325; finalDepth = 1049.605002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.605002 # Seafloor depth:-1099.605002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1100.062325 meters looking forward 0.000000 meters along route # Maximum depth: 1100.062325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.062325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.853536; captureRadius = 10; duration = 135; initialDepth = 1050.064540; finalDepth = 1050.062325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.062325 # Seafloor depth:-1100.062325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1100.064540 meters looking forward 0.000000 meters along route # Maximum depth: 1100.064540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.064540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772459; longitude = -121.852817; captureRadius = 10; duration = 135; initialDepth = 1048.774771; finalDepth = 1050.064540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.06454 # Seafloor depth:-1100.064540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1098.774771 meters looking forward 0.000000 meters along route # Maximum depth: 1098.774771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.774771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.852204; captureRadius = 10; duration = 135; initialDepth = 1049.575458; finalDepth = 1048.774771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.774771 # Seafloor depth:-1098.774771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.575458 meters looking forward 0.000000 meters along route # Maximum depth: 1099.575458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.575458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.851538; captureRadius = 10; duration = 135; initialDepth = 1051.175916; finalDepth = 1049.575458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.575458 # Seafloor depth:-1099.575458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1101.175916 meters looking forward 0.000000 meters along route # Maximum depth: 1101.175916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.175916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.850872; captureRadius = 10; duration = 135; initialDepth = 1052.830384; finalDepth = 1051.175916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.175916 # Seafloor depth:-1101.175916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1102.830384 meters looking forward 0.000000 meters along route # Maximum depth: 1102.830384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.830384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.850205; captureRadius = 10; duration = 135; initialDepth = 1049.885336; finalDepth = 1052.830384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.830384 # Seafloor depth:-1102.830384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.885336 meters looking forward 0.000000 meters along route # Maximum depth: 1099.885336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.885336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776588; longitude = -121.849501; captureRadius = 10; duration = 135; initialDepth = 1051.086858; finalDepth = 1049.885336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.885336 # Seafloor depth:-1099.885336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1101.086858 meters looking forward 0.000000 meters along route # Maximum depth: 1101.086858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.086858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.848873; captureRadius = 10; duration = 135; initialDepth = 1052.521528; finalDepth = 1051.086858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.086858 # Seafloor depth:-1101.086858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1102.521528 meters looking forward 0.000000 meters along route # Maximum depth: 1102.521528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.521528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.848207; captureRadius = 10; duration = 135; initialDepth = 1049.998102; finalDepth = 1052.521528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.521528 # Seafloor depth:-1102.521528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.998102 meters looking forward 0.000000 meters along route # Maximum depth: 1099.998102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.998102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.847541; captureRadius = 10; duration = 135; initialDepth = 1048.543521; finalDepth = 1049.998102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.998102 # Seafloor depth:-1099.998102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1098.543521 meters looking forward 0.000000 meters along route # Maximum depth: 1098.543521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.543521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.846875; captureRadius = 10; duration = 135; initialDepth = 1053.104440; finalDepth = 1048.543521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.543521 # Seafloor depth:-1098.543521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1103.104440 meters looking forward 0.000000 meters along route # Maximum depth: 1103.104440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.104440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780717; longitude = -121.846184; captureRadius = 10; duration = 135; initialDepth = 1054.133903; finalDepth = 1053.104440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.10444 # Seafloor depth:-1103.104440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1104.133903 meters looking forward 0.000000 meters along route # Maximum depth: 1104.133903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.133903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.845543; captureRadius = 10; duration = 135; initialDepth = 1056.097691; finalDepth = 1054.133903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.133903 # Seafloor depth:-1104.133903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1106.097691 meters looking forward 0.000000 meters along route # Maximum depth: 1106.097691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.097691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.844876; captureRadius = 10; duration = 135; initialDepth = 1053.661699; finalDepth = 1056.097691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1056.097691 # Seafloor depth:-1106.097691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1103.661699 meters looking forward 0.000000 meters along route # Maximum depth: 1103.661699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.661699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.844210; captureRadius = 10; duration = 135; initialDepth = 1049.781150; finalDepth = 1053.661699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.661699 # Seafloor depth:-1103.661699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.781150 meters looking forward 0.000000 meters along route # Maximum depth: 1099.781150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.781150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.843544; captureRadius = 10; duration = 135; initialDepth = 1049.181580; finalDepth = 1049.781150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.78115 # Seafloor depth:-1099.781150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.181580 meters looking forward 0.000000 meters along route # Maximum depth: 1099.181580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.181580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784846; longitude = -121.842867; captureRadius = 10; duration = 135; initialDepth = 1047.863821; finalDepth = 1049.181580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.18158 # Seafloor depth:-1099.181580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1097.863821 meters looking forward 0.000000 meters along route # Maximum depth: 1097.863821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.863821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.842212; captureRadius = 10; duration = 135; initialDepth = 1045.505285; finalDepth = 1047.863821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.863821 # Seafloor depth:-1097.863821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1095.505285 meters looking forward 0.000000 meters along route # Maximum depth: 1095.505285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.505285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.841546; captureRadius = 10; duration = 135; initialDepth = 1044.576292; finalDepth = 1045.505285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.505285 # Seafloor depth:-1095.505285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1094.576292 meters looking forward 0.000000 meters along route # Maximum depth: 1094.576292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.576292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.840880; captureRadius = 10; duration = 135; initialDepth = 1046.657041; finalDepth = 1044.576292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.576292 # Seafloor depth:-1094.576292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1096.657041 meters looking forward 0.000000 meters along route # Maximum depth: 1096.657041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.657041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.840213; captureRadius = 10; duration = 135; initialDepth = 1049.820263; finalDepth = 1046.657041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.657041 # Seafloor depth:-1096.657041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.820263 meters looking forward 0.000000 meters along route # Maximum depth: 1099.820263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.820263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.839547; captureRadius = 10; duration = 135; initialDepth = 1052.864842; finalDepth = 1049.820263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.820263 # Seafloor depth:-1099.820263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1102.864842 meters looking forward 0.000000 meters along route # Maximum depth: 1102.864842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.864842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.838881; captureRadius = 10; duration = 135; initialDepth = 1054.019554; finalDepth = 1052.864842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.864842 # Seafloor depth:-1102.864842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1104.019554 meters looking forward 0.000000 meters along route # Maximum depth: 1104.019554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.019554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790695; longitude = -121.838168; captureRadius = 10; duration = 135; initialDepth = 1059.386721; finalDepth = 1054.019554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.019554 # Seafloor depth:-1104.019554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1109.386721 meters looking forward 0.000000 meters along route # Maximum depth: 1109.386721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.386721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.837549; captureRadius = 10; duration = 135; initialDepth = 1053.524999; finalDepth = 1059.386721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1059.386721 # Seafloor depth:-1109.386721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1103.524999 meters looking forward 0.000000 meters along route # Maximum depth: 1103.524999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.524999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.836883; captureRadius = 10; duration = 135; initialDepth = 1051.780965; finalDepth = 1053.524999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.524999 # Seafloor depth:-1103.524999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1101.780965 meters looking forward 0.000000 meters along route # Maximum depth: 1101.780965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.780965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.836217; captureRadius = 10; duration = 135; initialDepth = 1047.294926; finalDepth = 1051.780965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.780965 # Seafloor depth:-1101.780965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1097.294926 meters looking forward 0.000000 meters along route # Maximum depth: 1097.294926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.294926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.835550; captureRadius = 10; duration = 135; initialDepth = 1049.609272; finalDepth = 1047.294926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.294926 # Seafloor depth:-1097.294926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.609272 meters looking forward 0.000000 meters along route # Maximum depth: 1099.609272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.609272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794824; longitude = -121.834851; captureRadius = 10; duration = 135; initialDepth = 1048.340952; finalDepth = 1049.609272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.609272 # Seafloor depth:-1099.609272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1098.340952 meters looking forward 0.000000 meters along route # Maximum depth: 1098.340952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.340952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.834218; captureRadius = 10; duration = 135; initialDepth = 1049.689972; finalDepth = 1048.340952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.340952 # Seafloor depth:-1098.340952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1099.689972 meters looking forward 0.000000 meters along route # Maximum depth: 1099.689972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.689972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.833552; captureRadius = 10; duration = 135; initialDepth = 1038.697829; finalDepth = 1049.689972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.689972 # Seafloor depth:-1099.689972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1088.697829 meters looking forward 0.000000 meters along route # Maximum depth: 1088.697829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.697829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797270; longitude = -121.832886; captureRadius = 10; duration = 135; initialDepth = 1033.421155; finalDepth = 1038.697829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.697829 # Seafloor depth:-1088.697829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1083.421155 meters looking forward 0.000000 meters along route # Maximum depth: 1083.421155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.421155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798099; longitude = -121.832220; captureRadius = 10; duration = 135; initialDepth = 1032.016526; finalDepth = 1033.421155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.421155 # Seafloor depth:-1083.421155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1082.016526 meters looking forward 0.000000 meters along route # Maximum depth: 1082.016526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.016526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798952; longitude = -121.831534; captureRadius = 10; duration = 135; initialDepth = 1031.127664; finalDepth = 1032.016526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.016526 # Seafloor depth:-1082.016526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1081.127664 meters looking forward 0.000000 meters along route # Maximum depth: 1081.127664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.127664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799758; longitude = -121.830888; captureRadius = 10; duration = 135; initialDepth = 1026.941495; finalDepth = 1031.127664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.127664 # Seafloor depth:-1081.127664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1076.941495 meters looking forward 0.000000 meters along route # Maximum depth: 1076.941495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.941495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800587; longitude = -121.830221; captureRadius = 10; duration = 135; initialDepth = 1028.233628; finalDepth = 1026.941495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.941495 # Seafloor depth:-1076.941495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 135.922320 meters # Minimum depth: 1078.233628 meters looking forward 0.000000 meters along route # Maximum depth: 1078.233628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.233628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801416; longitude = -121.829555; captureRadius = 10; duration = 135; initialDepth = 1025.633545; finalDepth = 1028.233628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.233628 # Seafloor depth:-1078.233628 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 135.922320 meters # Minimum depth: 1075.633545 meters looking forward 0.000000 meters along route # Maximum depth: 1075.633545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.633545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802437; longitude = -121.828735; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1025.409239; finalDepth = 1025.633545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.633545 # Seafloor depth:-1075.633545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 135.922320 meters # Minimum depth: 1075.409239 meters looking forward 0.000000 meters along route # Maximum depth: 1075.409239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.409239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.802192; longitude = -121.828217; captureRadius = 10; duration = 135; initialDepth = 1022.462219; finalDepth = 1025.409239; 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:1025.409239 # Seafloor depth:-1075.409239 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 135.922320 meters # Minimum depth: 1072.462219 meters looking forward 0.000000 meters along route # Maximum depth: 1072.462219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.462219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801709; longitude = -121.827198; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1022.512414; finalDepth = 1022.462219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.462219 # Seafloor depth:-1072.462219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1072.512414 meters looking forward 0.000000 meters along route # Maximum depth: 1072.512414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.512414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.801692; longitude = -121.827211; captureRadius = 10; duration = 135; initialDepth = 1024.128621; finalDepth = 1022.512414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.512414 # Seafloor depth:-1072.512414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1074.128621 meters looking forward 0.000000 meters along route # Maximum depth: 1074.128621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.128621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800863; longitude = -121.827876; captureRadius = 10; duration = 135; initialDepth = 1025.359638; finalDepth = 1024.128621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.128621 # Seafloor depth:-1074.128621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1075.359638 meters looking forward 0.000000 meters along route # Maximum depth: 1075.359638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.359638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.828541; captureRadius = 10; duration = 135; initialDepth = 1026.271046; finalDepth = 1025.359638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.359638 # Seafloor depth:-1075.359638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1076.271046 meters looking forward 0.000000 meters along route # Maximum depth: 1076.271046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.271046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.829206; captureRadius = 10; duration = 135; initialDepth = 1029.361272; finalDepth = 1026.271046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.271046 # Seafloor depth:-1076.271046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1079.361272 meters looking forward 0.000000 meters along route # Maximum depth: 1079.361272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.361272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798370; longitude = -121.829876; captureRadius = 10; duration = 135; initialDepth = 1032.589770; finalDepth = 1029.361272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.361272 # Seafloor depth:-1079.361272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1082.589770 meters looking forward 0.000000 meters along route # Maximum depth: 1082.589770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.589770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797546; longitude = -121.830536; captureRadius = 10; duration = 135; initialDepth = 1036.382019; finalDepth = 1032.589770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.58977 # Seafloor depth:-1082.589770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1086.382019 meters looking forward 0.000000 meters along route # Maximum depth: 1086.382019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.382019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796647; longitude = -121.831258; captureRadius = 10; duration = 135; initialDepth = 1041.922418; finalDepth = 1036.382019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.382019 # Seafloor depth:-1086.382019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1091.922418 meters looking forward 0.000000 meters along route # Maximum depth: 1091.922418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.922418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795888; longitude = -121.831866; captureRadius = 10; duration = 135; initialDepth = 1046.112848; finalDepth = 1041.922418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.922418 # Seafloor depth:-1091.922418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1096.112848 meters looking forward 0.000000 meters along route # Maximum depth: 1096.112848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.112848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.832531; captureRadius = 10; duration = 135; initialDepth = 1040.380409; finalDepth = 1046.112848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.112848 # Seafloor depth:-1096.112848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1090.380409 meters looking forward 0.000000 meters along route # Maximum depth: 1090.380409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.380409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.833196; captureRadius = 10; duration = 135; initialDepth = 1044.270416; finalDepth = 1040.380409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.380409 # Seafloor depth:-1090.380409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1094.270416 meters looking forward 0.000000 meters along route # Maximum depth: 1094.270416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.270416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.833862; captureRadius = 10; duration = 135; initialDepth = 1049.400099; finalDepth = 1044.270416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.270416 # Seafloor depth:-1094.270416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1099.400099 meters looking forward 0.000000 meters along route # Maximum depth: 1099.400099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.400099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792511; longitude = -121.834575; captureRadius = 10; duration = 135; initialDepth = 1050.482871; finalDepth = 1049.400099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.400099 # Seafloor depth:-1099.400099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.482871 meters looking forward 0.000000 meters along route # Maximum depth: 1100.482871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.482871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.835192; captureRadius = 10; duration = 135; initialDepth = 1052.812745; finalDepth = 1050.482871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.482871 # Seafloor depth:-1100.482871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1102.812745 meters looking forward 0.000000 meters along route # Maximum depth: 1102.812745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.812745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.835857; captureRadius = 10; duration = 135; initialDepth = 1050.034322; finalDepth = 1052.812745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.812745 # Seafloor depth:-1102.812745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.034322 meters looking forward 0.000000 meters along route # Maximum depth: 1100.034322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.034322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.836522; captureRadius = 10; duration = 135; initialDepth = 1049.826600; finalDepth = 1050.034322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.034322 # Seafloor depth:-1100.034322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1099.826600 meters looking forward 0.000000 meters along route # Maximum depth: 1099.826600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.826600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.837187; captureRadius = 10; duration = 135; initialDepth = 1047.128396; finalDepth = 1049.826600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.8266 # Seafloor depth:-1099.826600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.128396 meters looking forward 0.000000 meters along route # Maximum depth: 1097.128396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.128396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788375; longitude = -121.837892; captureRadius = 10; duration = 135; initialDepth = 1045.971179; finalDepth = 1047.128396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.128396 # Seafloor depth:-1097.128396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1095.971179 meters looking forward 0.000000 meters along route # Maximum depth: 1095.971179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.971179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.838517; captureRadius = 10; duration = 135; initialDepth = 1042.346833; finalDepth = 1045.971179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.971179 # Seafloor depth:-1095.971179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1092.346833 meters looking forward 0.000000 meters along route # Maximum depth: 1092.346833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.346833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.839182; captureRadius = 10; duration = 135; initialDepth = 1045.122352; finalDepth = 1042.346833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.346833 # Seafloor depth:-1092.346833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1095.122352 meters looking forward 0.000000 meters along route # Maximum depth: 1095.122352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.122352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.839847; captureRadius = 10; duration = 135; initialDepth = 1047.407491; finalDepth = 1045.122352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.122352 # Seafloor depth:-1095.122352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.407491 meters looking forward 0.000000 meters along route # Maximum depth: 1097.407491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.407491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.840512; captureRadius = 10; duration = 135; initialDepth = 1050.141271; finalDepth = 1047.407491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.407491 # Seafloor depth:-1097.407491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.141271 meters looking forward 0.000000 meters along route # Maximum depth: 1100.141271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.141271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784239; longitude = -121.841208; captureRadius = 10; duration = 135; initialDepth = 1051.525615; finalDepth = 1050.141271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.141271 # Seafloor depth:-1100.141271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1101.525615 meters looking forward 0.000000 meters along route # Maximum depth: 1101.525615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.525615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.841842; captureRadius = 10; duration = 135; initialDepth = 1050.713267; finalDepth = 1051.525615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.525615 # Seafloor depth:-1101.525615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.713267 meters looking forward 0.000000 meters along route # Maximum depth: 1100.713267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.713267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.842507; captureRadius = 10; duration = 135; initialDepth = 1050.259491; finalDepth = 1050.713267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.713267 # Seafloor depth:-1100.713267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.259491 meters looking forward 0.000000 meters along route # Maximum depth: 1100.259491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.259491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.843172; captureRadius = 10; duration = 135; initialDepth = 1051.396939; finalDepth = 1050.259491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.259491 # Seafloor depth:-1100.259491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1101.396939 meters looking forward 0.000000 meters along route # Maximum depth: 1101.396939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.396939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.843837; captureRadius = 10; duration = 135; initialDepth = 1049.643580; finalDepth = 1051.396939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.396939 # Seafloor depth:-1101.396939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1099.643580 meters looking forward 0.000000 meters along route # Maximum depth: 1099.643580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.643580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780104; longitude = -121.844525; captureRadius = 10; duration = 135; initialDepth = 1046.179335; finalDepth = 1049.643580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.64358 # Seafloor depth:-1099.643580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1096.179335 meters looking forward 0.000000 meters along route # Maximum depth: 1096.179335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.179335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.845167; captureRadius = 10; duration = 135; initialDepth = 1046.654980; finalDepth = 1046.179335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.179335 # Seafloor depth:-1096.179335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1096.654980 meters looking forward 0.000000 meters along route # Maximum depth: 1096.654980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.654980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.845832; captureRadius = 10; duration = 135; initialDepth = 1047.245572; finalDepth = 1046.654980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.65498 # Seafloor depth:-1096.654980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.245572 meters looking forward 0.000000 meters along route # Maximum depth: 1097.245572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.245572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.846497; captureRadius = 10; duration = 135; initialDepth = 1047.524088; finalDepth = 1047.245572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.245572 # Seafloor depth:-1097.245572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.524088 meters looking forward 0.000000 meters along route # Maximum depth: 1097.524088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.524088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.847162; captureRadius = 10; duration = 135; initialDepth = 1046.169291; finalDepth = 1047.524088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.524088 # Seafloor depth:-1097.524088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1096.169291 meters looking forward 0.000000 meters along route # Maximum depth: 1096.169291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.169291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775968; longitude = -121.847842; captureRadius = 10; duration = 135; initialDepth = 1045.639598; finalDepth = 1046.169291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.169291 # Seafloor depth:-1096.169291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1095.639598 meters looking forward 0.000000 meters along route # Maximum depth: 1095.639598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.639598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.848492; captureRadius = 10; duration = 135; initialDepth = 1047.038280; finalDepth = 1045.639598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.639598 # Seafloor depth:-1095.639598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.038280 meters looking forward 0.000000 meters along route # Maximum depth: 1097.038280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.038280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.849157; captureRadius = 10; duration = 135; initialDepth = 1048.344299; finalDepth = 1047.038280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.03828 # Seafloor depth:-1097.038280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1098.344299 meters looking forward 0.000000 meters along route # Maximum depth: 1098.344299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.344299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.849822; captureRadius = 10; duration = 135; initialDepth = 1045.943158; finalDepth = 1048.344299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.344299 # Seafloor depth:-1098.344299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1095.943158 meters looking forward 0.000000 meters along route # Maximum depth: 1095.943158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.943158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.850487; captureRadius = 10; duration = 135; initialDepth = 1048.659809; finalDepth = 1045.943158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.943158 # Seafloor depth:-1095.943158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1098.659809 meters looking forward 0.000000 meters along route # Maximum depth: 1098.659809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.659809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771832; longitude = -121.851159; captureRadius = 10; duration = 135; initialDepth = 1050.330579; finalDepth = 1048.659809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.659809 # Seafloor depth:-1098.659809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.330579 meters looking forward 0.000000 meters along route # Maximum depth: 1100.330579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.330579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.851817; captureRadius = 10; duration = 135; initialDepth = 1045.028027; finalDepth = 1050.330579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.330579 # Seafloor depth:-1100.330579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1095.028027 meters looking forward 0.000000 meters along route # Maximum depth: 1095.028027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.028027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770109; longitude = -121.852541; captureRadius = 10; duration = 135; initialDepth = 1043.775847; finalDepth = 1045.028027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.028027 # Seafloor depth:-1095.028027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1093.775847 meters looking forward 0.000000 meters along route # Maximum depth: 1093.775847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.775847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.853147; captureRadius = 10; duration = 135; initialDepth = 1046.599497; finalDepth = 1043.775847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.775847 # Seafloor depth:-1093.775847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1096.599497 meters looking forward 0.000000 meters along route # Maximum depth: 1096.599497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.599497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.853812; captureRadius = 10; duration = 135; initialDepth = 1046.303958; finalDepth = 1046.599497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.599497 # Seafloor depth:-1096.599497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1096.303958 meters looking forward 0.000000 meters along route # Maximum depth: 1096.303958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.303958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.854477; captureRadius = 10; duration = 135; initialDepth = 1060.851719; finalDepth = 1046.303958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.303958 # Seafloor depth:-1096.303958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1110.851719 meters looking forward 0.000000 meters along route # Maximum depth: 1110.851719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.851719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.855142; captureRadius = 10; duration = 135; initialDepth = 1046.926847; finalDepth = 1060.851719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.851719 # Seafloor depth:-1110.851719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1096.926847 meters looking forward 0.000000 meters along route # Maximum depth: 1096.926847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.926847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765973; longitude = -121.855858; captureRadius = 10; duration = 135; initialDepth = 1045.923883; finalDepth = 1046.926847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.926847 # Seafloor depth:-1096.926847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1095.923883 meters looking forward 0.000000 meters along route # Maximum depth: 1095.923883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.923883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.856472; captureRadius = 10; duration = 135; initialDepth = 1047.733973; finalDepth = 1045.923883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.923883 # Seafloor depth:-1095.923883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.733973 meters looking forward 0.000000 meters along route # Maximum depth: 1097.733973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.733973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.857137; captureRadius = 10; duration = 135; initialDepth = 1048.753363; finalDepth = 1047.733973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.733973 # Seafloor depth:-1097.733973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1098.753363 meters looking forward 0.000000 meters along route # Maximum depth: 1098.753363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.753363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.857802; captureRadius = 10; duration = 135; initialDepth = 1050.927449; finalDepth = 1048.753363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.753363 # Seafloor depth:-1098.753363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.927449 meters looking forward 0.000000 meters along route # Maximum depth: 1100.927449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.927449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.858467; captureRadius = 10; duration = 135; initialDepth = 1052.584504; finalDepth = 1050.927449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.927449 # Seafloor depth:-1100.927449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1102.584504 meters looking forward 0.000000 meters along route # Maximum depth: 1102.584504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.584504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761837; longitude = -121.859175; captureRadius = 10; duration = 135; initialDepth = 1052.330340; finalDepth = 1052.584504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.584504 # Seafloor depth:-1102.584504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1102.330340 meters looking forward 0.000000 meters along route # Maximum depth: 1102.330340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.330340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.859797; captureRadius = 10; duration = 135; initialDepth = 1047.255356; finalDepth = 1052.330340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.33034 # Seafloor depth:-1102.330340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.255356 meters looking forward 0.000000 meters along route # Maximum depth: 1097.255356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.255356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.860462; captureRadius = 10; duration = 135; initialDepth = 1047.338831; finalDepth = 1047.255356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.255356 # Seafloor depth:-1097.255356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1097.338831 meters looking forward 0.000000 meters along route # Maximum depth: 1097.338831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.338831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.861127; captureRadius = 10; duration = 135; initialDepth = 1051.205515; finalDepth = 1047.338831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.338831 # Seafloor depth:-1097.338831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1101.205515 meters looking forward 0.000000 meters along route # Maximum depth: 1101.205515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.205515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.861792; captureRadius = 10; duration = 135; initialDepth = 1051.578561; finalDepth = 1051.205515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.205515 # Seafloor depth:-1101.205515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1101.578561 meters looking forward 0.000000 meters along route # Maximum depth: 1101.578561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.578561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757701; longitude = -121.862492; captureRadius = 10; duration = 135; initialDepth = 1049.593581; finalDepth = 1051.578561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.578561 # Seafloor depth:-1101.578561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1099.593581 meters looking forward 0.000000 meters along route # Maximum depth: 1099.593581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.593581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.863122; captureRadius = 10; duration = 135; initialDepth = 1050.251112; finalDepth = 1049.593581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.593581 # Seafloor depth:-1099.593581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.251112 meters looking forward 0.000000 meters along route # Maximum depth: 1100.251112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.251112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.863787; captureRadius = 10; duration = 135; initialDepth = 1048.889340; finalDepth = 1050.251112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.251112 # Seafloor depth:-1100.251112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1098.889340 meters looking forward 0.000000 meters along route # Maximum depth: 1098.889340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.889340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.864452; captureRadius = 10; duration = 135; initialDepth = 1050.490119; finalDepth = 1048.889340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.88934 # Seafloor depth:-1098.889340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.490119 meters looking forward 0.000000 meters along route # Maximum depth: 1100.490119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.490119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.865117; captureRadius = 10; duration = 135; initialDepth = 1051.043566; finalDepth = 1050.490119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.490119 # Seafloor depth:-1100.490119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1101.043566 meters looking forward 0.000000 meters along route # Maximum depth: 1101.043566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.043566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753566; longitude = -121.865808; captureRadius = 10; duration = 135; initialDepth = 1052.437597; finalDepth = 1051.043566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.043566 # Seafloor depth:-1101.043566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1102.437597 meters looking forward 0.000000 meters along route # Maximum depth: 1102.437597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.437597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.866447; captureRadius = 10; duration = 135; initialDepth = 1052.590756; finalDepth = 1052.437597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.437597 # Seafloor depth:-1102.437597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1102.590756 meters looking forward 0.000000 meters along route # Maximum depth: 1102.590756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.590756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.867112; captureRadius = 10; duration = 135; initialDepth = 1050.381063; finalDepth = 1052.590756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.590756 # Seafloor depth:-1102.590756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1100.381063 meters looking forward 0.000000 meters along route # Maximum depth: 1100.381063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.381063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.867777; captureRadius = 10; duration = 135; initialDepth = 1053.333680; finalDepth = 1050.381063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.381063 # Seafloor depth:-1100.381063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1103.333680 meters looking forward 0.000000 meters along route # Maximum depth: 1103.333680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.333680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.868442; captureRadius = 10; duration = 135; initialDepth = 1058.180618; finalDepth = 1053.333680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1053.33368 # Seafloor depth:-1103.333680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 135.922320 meters # Minimum depth: 1108.180618 meters looking forward 0.000000 meters along route # Maximum depth: 1108.180618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.180618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749430; longitude = -121.869125; captureRadius = 10; duration = 135; initialDepth = 1052.956482; finalDepth = 1058.180618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1058.180618 # Seafloor depth:-1108.180618 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 135.922320 meters # Minimum depth: 1102.956482 meters looking forward 0.000000 meters along route # Maximum depth: 1102.956482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.956482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748637; longitude = -121.869761; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1050.324137; finalDepth = 1052.956482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.956482 # Seafloor depth:-1102.956482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 135.922320 meters # Minimum depth: 1100.324137 meters looking forward 0.000000 meters along route # Maximum depth: 1100.324137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.324137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748446; longitude = -121.869402; captureRadius = 10; duration = 135; initialDepth = 1049.834015; finalDepth = 1050.324137; 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:1050.324137 # Seafloor depth:-1100.324137 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 135.922320 meters # Minimum depth: 1099.834015 meters looking forward 0.000000 meters along route # Maximum depth: 1099.834015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.834015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747897; longitude = -121.868372; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1051.922720; finalDepth = 1049.834015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.834015 # Seafloor depth:-1099.834015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1101.922720 meters looking forward 0.000000 meters along route # Maximum depth: 1101.922720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.922720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748681; longitude = -121.867743; captureRadius = 10; duration = 135; initialDepth = 1050.630170; finalDepth = 1051.922720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.92272 # Seafloor depth:-1101.922720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1100.630170 meters looking forward 0.000000 meters along route # Maximum depth: 1100.630170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.630170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.867125; captureRadius = 10; duration = 135; initialDepth = 1046.486987; finalDepth = 1050.630170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.63017 # Seafloor depth:-1100.630170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1096.486987 meters looking forward 0.000000 meters along route # Maximum depth: 1096.486987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.486987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.866460; captureRadius = 10; duration = 135; initialDepth = 1049.270260; finalDepth = 1046.486987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.486987 # Seafloor depth:-1096.486987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1099.270260 meters looking forward 0.000000 meters along route # Maximum depth: 1099.270260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.270260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.865795; captureRadius = 10; duration = 135; initialDepth = 1051.200624; finalDepth = 1049.270260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.27026 # Seafloor depth:-1099.270260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1101.200624 meters looking forward 0.000000 meters along route # Maximum depth: 1101.200624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.200624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.865130; captureRadius = 10; duration = 135; initialDepth = 1052.815041; finalDepth = 1051.200624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.200624 # Seafloor depth:-1101.200624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1102.815041 meters looking forward 0.000000 meters along route # Maximum depth: 1102.815041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.815041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752817; longitude = -121.864426; captureRadius = 10; duration = 135; initialDepth = 1051.444504; finalDepth = 1052.815041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.815041 # Seafloor depth:-1102.815041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1101.444504 meters looking forward 0.000000 meters along route # Maximum depth: 1101.444504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.444504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.863800; captureRadius = 10; duration = 135; initialDepth = 1047.800594; finalDepth = 1051.444504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.444504 # Seafloor depth:-1101.444504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1097.800594 meters looking forward 0.000000 meters along route # Maximum depth: 1097.800594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.800594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.863135; captureRadius = 10; duration = 135; initialDepth = 1045.785690; finalDepth = 1047.800594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.800594 # Seafloor depth:-1097.800594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.785690 meters looking forward 0.000000 meters along route # Maximum depth: 1095.785690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.785690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.862470; captureRadius = 10; duration = 135; initialDepth = 1046.035397; finalDepth = 1045.785690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.78569 # Seafloor depth:-1095.785690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1096.035397 meters looking forward 0.000000 meters along route # Maximum depth: 1096.035397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.035397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.861805; captureRadius = 10; duration = 135; initialDepth = 1047.907613; finalDepth = 1046.035397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.035397 # Seafloor depth:-1096.035397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1097.907613 meters looking forward 0.000000 meters along route # Maximum depth: 1097.907613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.907613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756952; longitude = -121.861109; captureRadius = 10; duration = 135; initialDepth = 1043.575522; finalDepth = 1047.907613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.907613 # Seafloor depth:-1097.907613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1093.575522 meters looking forward 0.000000 meters along route # Maximum depth: 1093.575522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.575522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.860475; captureRadius = 10; duration = 135; initialDepth = 1043.515511; finalDepth = 1043.575522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.575522 # Seafloor depth:-1093.575522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1093.515511 meters looking forward 0.000000 meters along route # Maximum depth: 1093.515511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.515511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.859810; captureRadius = 10; duration = 135; initialDepth = 1048.974104; finalDepth = 1043.515511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.515511 # Seafloor depth:-1093.515511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1098.974104 meters looking forward 0.000000 meters along route # Maximum depth: 1098.974104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.974104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.859144; captureRadius = 10; duration = 135; initialDepth = 1046.106751; finalDepth = 1048.974104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.974104 # Seafloor depth:-1098.974104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1096.106751 meters looking forward 0.000000 meters along route # Maximum depth: 1096.106751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.106751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.858479; captureRadius = 10; duration = 135; initialDepth = 1049.117692; finalDepth = 1046.106751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.106751 # Seafloor depth:-1096.106751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1099.117692 meters looking forward 0.000000 meters along route # Maximum depth: 1099.117692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.117692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761088; longitude = -121.857793; captureRadius = 10; duration = 135; initialDepth = 1048.831695; finalDepth = 1049.117692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.117692 # Seafloor depth:-1099.117692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1098.831695 meters looking forward 0.000000 meters along route # Maximum depth: 1098.831695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.831695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.857149; captureRadius = 10; duration = 135; initialDepth = 1044.755540; finalDepth = 1048.831695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.831695 # Seafloor depth:-1098.831695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1094.755540 meters looking forward 0.000000 meters along route # Maximum depth: 1094.755540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.755540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.856484; captureRadius = 10; duration = 135; initialDepth = 1045.274102; finalDepth = 1044.755540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.75554 # Seafloor depth:-1094.755540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.274102 meters looking forward 0.000000 meters along route # Maximum depth: 1095.274102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.274102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.855819; captureRadius = 10; duration = 135; initialDepth = 1042.569562; finalDepth = 1045.274102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.274102 # Seafloor depth:-1095.274102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1092.569562 meters looking forward 0.000000 meters along route # Maximum depth: 1092.569562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.569562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.855154; captureRadius = 10; duration = 135; initialDepth = 1045.666245; finalDepth = 1042.569562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.569562 # Seafloor depth:-1092.569562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.666245 meters looking forward 0.000000 meters along route # Maximum depth: 1095.666245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.666245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765224; longitude = -121.854476; captureRadius = 10; duration = 135; initialDepth = 1060.793235; finalDepth = 1045.666245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.666245 # Seafloor depth:-1095.666245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1110.793235 meters looking forward 0.000000 meters along route # Maximum depth: 1110.793235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.793235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.853824; captureRadius = 10; duration = 135; initialDepth = 1044.549616; finalDepth = 1060.793235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1060.793235 # Seafloor depth:-1110.793235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1094.549616 meters looking forward 0.000000 meters along route # Maximum depth: 1094.549616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.549616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.853159; captureRadius = 10; duration = 135; initialDepth = 1041.681502; finalDepth = 1044.549616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.549616 # Seafloor depth:-1094.549616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1091.681502 meters looking forward 0.000000 meters along route # Maximum depth: 1091.681502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.681502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.852494; captureRadius = 10; duration = 135; initialDepth = 1042.254805; finalDepth = 1041.681502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.681502 # Seafloor depth:-1091.681502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1092.254805 meters looking forward 0.000000 meters along route # Maximum depth: 1092.254805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.254805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.851829; captureRadius = 10; duration = 135; initialDepth = 1045.658181; finalDepth = 1042.254805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.254805 # Seafloor depth:-1092.254805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.658181 meters looking forward 0.000000 meters along route # Maximum depth: 1095.658181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.658181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769360; longitude = -121.851159; captureRadius = 10; duration = 135; initialDepth = 1046.866532; finalDepth = 1045.658181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.658181 # Seafloor depth:-1095.658181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1096.866532 meters looking forward 0.000000 meters along route # Maximum depth: 1096.866532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.866532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.850499; captureRadius = 10; duration = 135; initialDepth = 1045.539932; finalDepth = 1046.866532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.866532 # Seafloor depth:-1096.866532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.539932 meters looking forward 0.000000 meters along route # Maximum depth: 1095.539932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.539932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771083; longitude = -121.849777; captureRadius = 10; duration = 135; initialDepth = 1045.012185; finalDepth = 1045.539932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.539932 # Seafloor depth:-1095.539932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.012185 meters looking forward 0.000000 meters along route # Maximum depth: 1095.012185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.012185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.849169; captureRadius = 10; duration = 135; initialDepth = 1044.253824; finalDepth = 1045.012185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.012185 # Seafloor depth:-1095.012185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1094.253824 meters looking forward 0.000000 meters along route # Maximum depth: 1094.253824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.253824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.848504; captureRadius = 10; duration = 135; initialDepth = 1043.051646; finalDepth = 1044.253824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.253824 # Seafloor depth:-1094.253824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1093.051646 meters looking forward 0.000000 meters along route # Maximum depth: 1093.051646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.051646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.847839; captureRadius = 10; duration = 135; initialDepth = 1045.681750; finalDepth = 1043.051646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.051646 # Seafloor depth:-1093.051646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.681750 meters looking forward 0.000000 meters along route # Maximum depth: 1095.681750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.681750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.847174; captureRadius = 10; duration = 135; initialDepth = 1042.989024; finalDepth = 1045.681750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.68175 # Seafloor depth:-1095.681750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1092.989024 meters looking forward 0.000000 meters along route # Maximum depth: 1092.989024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.989024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775218; longitude = -121.846460; captureRadius = 10; duration = 135; initialDepth = 1045.297556; finalDepth = 1042.989024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.989024 # Seafloor depth:-1092.989024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.297556 meters looking forward 0.000000 meters along route # Maximum depth: 1095.297556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.297556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.845844; captureRadius = 10; duration = 135; initialDepth = 1041.110969; finalDepth = 1045.297556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.297556 # Seafloor depth:-1095.297556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1091.110969 meters looking forward 0.000000 meters along route # Maximum depth: 1091.110969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.110969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.845179; captureRadius = 10; duration = 135; initialDepth = 1044.668900; finalDepth = 1041.110969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.110969 # Seafloor depth:-1091.110969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1094.668900 meters looking forward 0.000000 meters along route # Maximum depth: 1094.668900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.668900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.844514; captureRadius = 10; duration = 135; initialDepth = 1045.982563; finalDepth = 1044.668900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.6689 # Seafloor depth:-1094.668900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.982563 meters looking forward 0.000000 meters along route # Maximum depth: 1095.982563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.982563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.843849; captureRadius = 10; duration = 135; initialDepth = 1044.101288; finalDepth = 1045.982563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.982563 # Seafloor depth:-1095.982563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1094.101288 meters looking forward 0.000000 meters along route # Maximum depth: 1094.101288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.101288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779354; longitude = -121.843143; captureRadius = 10; duration = 135; initialDepth = 1043.545496; finalDepth = 1044.101288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.101288 # Seafloor depth:-1094.101288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1093.545496 meters looking forward 0.000000 meters along route # Maximum depth: 1093.545496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.545496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.842519; captureRadius = 10; duration = 135; initialDepth = 1046.999552; finalDepth = 1043.545496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.545496 # Seafloor depth:-1093.545496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1096.999552 meters looking forward 0.000000 meters along route # Maximum depth: 1096.999552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.999552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.841854; captureRadius = 10; duration = 135; initialDepth = 1047.894619; finalDepth = 1046.999552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.999552 # Seafloor depth:-1096.999552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1097.894619 meters looking forward 0.000000 meters along route # Maximum depth: 1097.894619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.894619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.841189; captureRadius = 10; duration = 135; initialDepth = 1046.359395; finalDepth = 1047.894619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.894619 # Seafloor depth:-1097.894619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1096.359395 meters looking forward 0.000000 meters along route # Maximum depth: 1096.359395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.359395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.840524; captureRadius = 10; duration = 135; initialDepth = 1050.833230; finalDepth = 1046.359395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.359395 # Seafloor depth:-1096.359395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1100.833230 meters looking forward 0.000000 meters along route # Maximum depth: 1100.833230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.833230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783490; longitude = -121.839826; captureRadius = 10; duration = 135; initialDepth = 1046.612410; finalDepth = 1050.833230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.83323 # Seafloor depth:-1100.833230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1096.612410 meters looking forward 0.000000 meters along route # Maximum depth: 1096.612410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.612410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.839194; captureRadius = 10; duration = 135; initialDepth = 1040.188829; finalDepth = 1046.612410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.61241 # Seafloor depth:-1096.612410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1090.188829 meters looking forward 0.000000 meters along route # Maximum depth: 1090.188829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.188829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.838528; captureRadius = 10; duration = 135; initialDepth = 1041.377096; finalDepth = 1040.188829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.188829 # Seafloor depth:-1090.188829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1091.377096 meters looking forward 0.000000 meters along route # Maximum depth: 1091.377096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.377096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.837863; captureRadius = 10; duration = 135; initialDepth = 1043.446659; finalDepth = 1041.377096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.377096 # Seafloor depth:-1091.377096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1093.446659 meters looking forward 0.000000 meters along route # Maximum depth: 1093.446659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.446659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.837198; captureRadius = 10; duration = 135; initialDepth = 1045.639383; finalDepth = 1043.446659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.446659 # Seafloor depth:-1093.446659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1095.639383 meters looking forward 0.000000 meters along route # Maximum depth: 1095.639383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.639383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787625; longitude = -121.836510; captureRadius = 10; duration = 135; initialDepth = 1047.853380; finalDepth = 1045.639383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.639383 # Seafloor depth:-1095.639383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1097.853380 meters looking forward 0.000000 meters along route # Maximum depth: 1097.853380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.853380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.835868; captureRadius = 10; duration = 135; initialDepth = 1048.189623; finalDepth = 1047.853380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.85338 # Seafloor depth:-1097.853380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1098.189623 meters looking forward 0.000000 meters along route # Maximum depth: 1098.189623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.189623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.835203; captureRadius = 10; duration = 135; initialDepth = 1050.464310; finalDepth = 1048.189623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.189623 # Seafloor depth:-1098.189623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1100.464310 meters looking forward 0.000000 meters along route # Maximum depth: 1100.464310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.464310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.834538; captureRadius = 10; duration = 135; initialDepth = 1049.734845; finalDepth = 1050.464310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.46431 # Seafloor depth:-1100.464310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1099.734845 meters looking forward 0.000000 meters along route # Maximum depth: 1099.734845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.734845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.833873; captureRadius = 10; duration = 135; initialDepth = 1048.385270; finalDepth = 1049.734845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.734845 # Seafloor depth:-1099.734845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1098.385270 meters looking forward 0.000000 meters along route # Maximum depth: 1098.385270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.385270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791761; longitude = -121.833193; captureRadius = 10; duration = 135; initialDepth = 1041.477895; finalDepth = 1048.385270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.38527 # Seafloor depth:-1098.385270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1091.477895 meters looking forward 0.000000 meters along route # Maximum depth: 1091.477895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.477895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.832543; captureRadius = 10; duration = 135; initialDepth = 1037.305047; finalDepth = 1041.477895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.477895 # Seafloor depth:-1091.477895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1087.305047 meters looking forward 0.000000 meters along route # Maximum depth: 1087.305047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.305047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.831878; captureRadius = 10; duration = 135; initialDepth = 1036.043104; finalDepth = 1037.305047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.305047 # Seafloor depth:-1087.305047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1086.043104 meters looking forward 0.000000 meters along route # Maximum depth: 1086.043104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.043104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.831213; captureRadius = 10; duration = 135; initialDepth = 1035.241688; finalDepth = 1036.043104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.043104 # Seafloor depth:-1086.043104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1085.241688 meters looking forward 0.000000 meters along route # Maximum depth: 1085.241688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.241688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.830548; captureRadius = 10; duration = 135; initialDepth = 1033.407905; finalDepth = 1035.241688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.241688 # Seafloor depth:-1085.241688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1083.407905 meters looking forward 0.000000 meters along route # Maximum depth: 1083.407905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.407905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795897; longitude = -121.829876; captureRadius = 10; duration = 135; initialDepth = 1029.985370; finalDepth = 1033.407905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.407905 # Seafloor depth:-1083.407905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1079.985370 meters looking forward 0.000000 meters along route # Maximum depth: 1079.985370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.985370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796717; longitude = -121.829218; captureRadius = 10; duration = 135; initialDepth = 1027.400805; finalDepth = 1029.985370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.98537 # Seafloor depth:-1079.985370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1077.400805 meters looking forward 0.000000 meters along route # Maximum depth: 1077.400805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.400805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797620; longitude = -121.828494; captureRadius = 10; duration = 135; initialDepth = 1026.873922; finalDepth = 1027.400805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.400805 # Seafloor depth:-1077.400805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1076.873922 meters looking forward 0.000000 meters along route # Maximum depth: 1076.873922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.873922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798376; longitude = -121.827888; captureRadius = 10; duration = 135; initialDepth = 1023.726155; finalDepth = 1026.873922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.873922 # Seafloor depth:-1076.873922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1073.726155 meters looking forward 0.000000 meters along route # Maximum depth: 1073.726155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.726155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799205; longitude = -121.827223; captureRadius = 10; duration = 135; initialDepth = 1021.545637; finalDepth = 1023.726155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.726155 # Seafloor depth:-1073.726155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 135.922320 meters # Minimum depth: 1071.545637 meters looking forward 0.000000 meters along route # Maximum depth: 1071.545637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.545637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800034; longitude = -121.826558; captureRadius = 10; duration = 135; initialDepth = 1019.689606; finalDepth = 1021.545637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.545637 # Seafloor depth:-1071.545637 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 135.922320 meters # Minimum depth: 1069.689606 meters looking forward 0.000000 meters along route # Maximum depth: 1069.689606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.689606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800969; longitude = -121.825808; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1019.821636; finalDepth = 1019.689606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.689606 # Seafloor depth:-1069.689606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 135.922320 meters # Minimum depth: 1069.821636 meters looking forward 0.000000 meters along route # Maximum depth: 1069.821636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.821636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800780; longitude = -121.825453; captureRadius = 10; duration = 135; initialDepth = 1018.904022; finalDepth = 1019.821636; 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:1019.821636 # Seafloor depth:-1069.821636 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 135.922320 meters # Minimum depth: 1068.904022 meters looking forward 0.000000 meters along route # Maximum depth: 1068.904022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.904022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.800229; longitude = -121.824419; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1020.128568; finalDepth = 1018.904022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.904022 # Seafloor depth:-1068.904022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1070.128568 meters looking forward 0.000000 meters along route # Maximum depth: 1070.128568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.128568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799481; longitude = -121.825019; captureRadius = 10; duration = 135; initialDepth = 1022.361054; finalDepth = 1020.128568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.128568 # Seafloor depth:-1070.128568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1072.361054 meters looking forward 0.000000 meters along route # Maximum depth: 1072.361054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.361054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798595; longitude = -121.825730; captureRadius = 10; duration = 135; initialDepth = 1022.249905; finalDepth = 1022.361054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.361054 # Seafloor depth:-1072.361054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1072.249905 meters looking forward 0.000000 meters along route # Maximum depth: 1072.249905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.249905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.826349; captureRadius = 10; duration = 135; initialDepth = 1025.262382; finalDepth = 1022.249905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.249905 # Seafloor depth:-1072.249905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1075.262382 meters looking forward 0.000000 meters along route # Maximum depth: 1075.262382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.262382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.827014; captureRadius = 10; duration = 135; initialDepth = 1025.586487; finalDepth = 1025.262382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.262382 # Seafloor depth:-1075.262382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1075.586487 meters looking forward 0.000000 meters along route # Maximum depth: 1075.586487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.586487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.827679; captureRadius = 10; duration = 135; initialDepth = 1029.252564; finalDepth = 1025.586487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.586487 # Seafloor depth:-1075.586487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1079.252564 meters looking forward 0.000000 meters along route # Maximum depth: 1079.252564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.252564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.828344; captureRadius = 10; duration = 135; initialDepth = 1030.603024; finalDepth = 1029.252564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.252564 # Seafloor depth:-1079.252564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1080.603024 meters looking forward 0.000000 meters along route # Maximum depth: 1080.603024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.603024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794459; longitude = -121.829047; captureRadius = 10; duration = 135; initialDepth = 1032.486781; finalDepth = 1030.603024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.603024 # Seafloor depth:-1080.603024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1082.486781 meters looking forward 0.000000 meters along route # Maximum depth: 1082.486781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.486781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.829674; captureRadius = 10; duration = 135; initialDepth = 1033.520864; finalDepth = 1032.486781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.486781 # Seafloor depth:-1082.486781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1083.520864 meters looking forward 0.000000 meters along route # Maximum depth: 1083.520864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.520864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.830339; captureRadius = 10; duration = 135; initialDepth = 1038.611803; finalDepth = 1033.520864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.520864 # Seafloor depth:-1083.520864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1088.611803 meters looking forward 0.000000 meters along route # Maximum depth: 1088.611803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.611803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.831004; captureRadius = 10; duration = 135; initialDepth = 1044.190895; finalDepth = 1038.611803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.611803 # Seafloor depth:-1088.611803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1094.190895 meters looking forward 0.000000 meters along route # Maximum depth: 1094.190895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.190895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.831669; captureRadius = 10; duration = 135; initialDepth = 1048.522129; finalDepth = 1044.190895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.190895 # Seafloor depth:-1094.190895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1098.522129 meters looking forward 0.000000 meters along route # Maximum depth: 1098.522129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.522129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790323; longitude = -121.832363; captureRadius = 10; duration = 135; initialDepth = 1048.990201; finalDepth = 1048.522129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.522129 # Seafloor depth:-1098.522129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1098.990201 meters looking forward 0.000000 meters along route # Maximum depth: 1098.990201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.990201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.832999; captureRadius = 10; duration = 135; initialDepth = 1048.136846; finalDepth = 1048.990201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.990201 # Seafloor depth:-1098.990201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1098.136846 meters looking forward 0.000000 meters along route # Maximum depth: 1098.136846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.136846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.833664; captureRadius = 10; duration = 135; initialDepth = 1047.753953; finalDepth = 1048.136846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.136846 # Seafloor depth:-1098.136846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1097.753953 meters looking forward 0.000000 meters along route # Maximum depth: 1097.753953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.753953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.834329; captureRadius = 10; duration = 135; initialDepth = 1042.700887; finalDepth = 1047.753953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.753953 # Seafloor depth:-1097.753953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1092.700887 meters looking forward 0.000000 meters along route # Maximum depth: 1092.700887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.700887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.834994; captureRadius = 10; duration = 135; initialDepth = 1039.828811; finalDepth = 1042.700887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.700887 # Seafloor depth:-1092.700887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1089.828811 meters looking forward 0.000000 meters along route # Maximum depth: 1089.828811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.828811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786188; longitude = -121.835680; captureRadius = 10; duration = 135; initialDepth = 1038.994983; finalDepth = 1039.828811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.828811 # Seafloor depth:-1089.828811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1088.994983 meters looking forward 0.000000 meters along route # Maximum depth: 1088.994983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.994983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.836325; captureRadius = 10; duration = 135; initialDepth = 1040.932757; finalDepth = 1038.994983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.994983 # Seafloor depth:-1088.994983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.932757 meters looking forward 0.000000 meters along route # Maximum depth: 1090.932757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.932757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.836990; captureRadius = 10; duration = 135; initialDepth = 1046.975929; finalDepth = 1040.932757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.932757 # Seafloor depth:-1090.932757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1096.975929 meters looking forward 0.000000 meters along route # Maximum depth: 1096.975929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.975929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.837655; captureRadius = 10; duration = 135; initialDepth = 1046.185190; finalDepth = 1046.975929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.975929 # Seafloor depth:-1096.975929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1096.185190 meters looking forward 0.000000 meters along route # Maximum depth: 1096.185190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.185190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.838320; captureRadius = 10; duration = 135; initialDepth = 1048.049917; finalDepth = 1046.185190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.18519 # Seafloor depth:-1096.185190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1098.049917 meters looking forward 0.000000 meters along route # Maximum depth: 1098.049917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.049917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782052; longitude = -121.838997; captureRadius = 10; duration = 135; initialDepth = 1046.285617; finalDepth = 1048.049917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.049917 # Seafloor depth:-1098.049917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1096.285617 meters looking forward 0.000000 meters along route # Maximum depth: 1096.285617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.285617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.839650; captureRadius = 10; duration = 135; initialDepth = 1042.217637; finalDepth = 1046.285617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.285617 # Seafloor depth:-1096.285617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1092.217637 meters looking forward 0.000000 meters along route # Maximum depth: 1092.217637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.217637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.840315; captureRadius = 10; duration = 135; initialDepth = 1042.361061; finalDepth = 1042.217637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.217637 # Seafloor depth:-1092.217637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1092.361061 meters looking forward 0.000000 meters along route # Maximum depth: 1092.361061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.361061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.840980; captureRadius = 10; duration = 135; initialDepth = 1039.551972; finalDepth = 1042.361061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.361061 # Seafloor depth:-1092.361061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1089.551972 meters looking forward 0.000000 meters along route # Maximum depth: 1089.551972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.551972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.841645; captureRadius = 10; duration = 135; initialDepth = 1046.456987; finalDepth = 1039.551972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.551972 # Seafloor depth:-1089.551972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1096.456987 meters looking forward 0.000000 meters along route # Maximum depth: 1096.456987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.456987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777917; longitude = -121.842314; captureRadius = 10; duration = 135; initialDepth = 1042.598512; finalDepth = 1046.456987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.456987 # Seafloor depth:-1096.456987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1092.598512 meters looking forward 0.000000 meters along route # Maximum depth: 1092.598512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.598512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.842975; captureRadius = 10; duration = 135; initialDepth = 1040.749023; finalDepth = 1042.598512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.598512 # Seafloor depth:-1092.598512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.749023 meters looking forward 0.000000 meters along route # Maximum depth: 1090.749023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.749023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776193; longitude = -121.843696; captureRadius = 10; duration = 135; initialDepth = 1037.372488; finalDepth = 1040.749023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.749023 # Seafloor depth:-1090.749023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1087.372488 meters looking forward 0.000000 meters along route # Maximum depth: 1087.372488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.372488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.844305; captureRadius = 10; duration = 135; initialDepth = 1039.190832; finalDepth = 1037.372488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.372488 # Seafloor depth:-1087.372488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1089.190832 meters looking forward 0.000000 meters along route # Maximum depth: 1089.190832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.190832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.844970; captureRadius = 10; duration = 135; initialDepth = 1039.874165; finalDepth = 1039.190832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.190832 # Seafloor depth:-1089.190832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1089.874165 meters looking forward 0.000000 meters along route # Maximum depth: 1089.874165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.874165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.845635; captureRadius = 10; duration = 135; initialDepth = 1039.610741; finalDepth = 1039.874165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.874165 # Seafloor depth:-1089.874165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1089.610741 meters looking forward 0.000000 meters along route # Maximum depth: 1089.610741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.610741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.846300; captureRadius = 10; duration = 135; initialDepth = 1040.551346; finalDepth = 1039.610741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.610741 # Seafloor depth:-1089.610741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.551346 meters looking forward 0.000000 meters along route # Maximum depth: 1090.551346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.551346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772058; longitude = -121.847013; captureRadius = 10; duration = 135; initialDepth = 1041.690228; finalDepth = 1040.551346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.551346 # Seafloor depth:-1090.551346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1091.690228 meters looking forward 0.000000 meters along route # Maximum depth: 1091.690228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.690228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.847630; captureRadius = 10; duration = 135; initialDepth = 1041.765910; finalDepth = 1041.690228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.690228 # Seafloor depth:-1091.690228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1091.765910 meters looking forward 0.000000 meters along route # Maximum depth: 1091.765910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.765910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.848295; captureRadius = 10; duration = 135; initialDepth = 1041.195557; finalDepth = 1041.765910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.76591 # Seafloor depth:-1091.765910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1091.195557 meters looking forward 0.000000 meters along route # Maximum depth: 1091.195557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.195557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.848960; captureRadius = 10; duration = 135; initialDepth = 1040.134243; finalDepth = 1041.195557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.195557 # Seafloor depth:-1091.195557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.134243 meters looking forward 0.000000 meters along route # Maximum depth: 1090.134243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.134243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.849625; captureRadius = 10; duration = 135; initialDepth = 1038.252041; finalDepth = 1040.134243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.134243 # Seafloor depth:-1090.134243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1088.252041 meters looking forward 0.000000 meters along route # Maximum depth: 1088.252041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.252041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767922; longitude = -121.850330; captureRadius = 10; duration = 135; initialDepth = 1040.363252; finalDepth = 1038.252041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.252041 # Seafloor depth:-1088.252041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.363252 meters looking forward 0.000000 meters along route # Maximum depth: 1090.363252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.363252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.850956; captureRadius = 10; duration = 135; initialDepth = 1040.665986; finalDepth = 1040.363252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.363252 # Seafloor depth:-1090.363252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.665986 meters looking forward 0.000000 meters along route # Maximum depth: 1090.665986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.665986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.851621; captureRadius = 10; duration = 135; initialDepth = 1052.769545; finalDepth = 1040.665986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.665986 # Seafloor depth:-1090.665986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1102.769545 meters looking forward 0.000000 meters along route # Maximum depth: 1102.769545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.769545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.852286; captureRadius = 10; duration = 135; initialDepth = 1054.439458; finalDepth = 1052.769545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1052.769545 # Seafloor depth:-1102.769545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1104.439458 meters looking forward 0.000000 meters along route # Maximum depth: 1104.439458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1054.439458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.852951; captureRadius = 10; duration = 135; initialDepth = 1040.769049; finalDepth = 1054.439458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1054.439458 # Seafloor depth:-1104.439458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.769049 meters looking forward 0.000000 meters along route # Maximum depth: 1090.769049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.769049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763787; longitude = -121.853647; captureRadius = 10; duration = 135; initialDepth = 1039.356091; finalDepth = 1040.769049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.769049 # Seafloor depth:-1090.769049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1089.356091 meters looking forward 0.000000 meters along route # Maximum depth: 1089.356091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.356091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.854281; captureRadius = 10; duration = 135; initialDepth = 1038.151268; finalDepth = 1039.356091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.356091 # Seafloor depth:-1089.356091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1088.151268 meters looking forward 0.000000 meters along route # Maximum depth: 1088.151268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.151268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.854946; captureRadius = 10; duration = 135; initialDepth = 1041.531892; finalDepth = 1038.151268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.151268 # Seafloor depth:-1088.151268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1091.531892 meters looking forward 0.000000 meters along route # Maximum depth: 1091.531892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.531892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.855611; captureRadius = 10; duration = 135; initialDepth = 1047.246067; finalDepth = 1041.531892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.531892 # Seafloor depth:-1091.531892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1097.246067 meters looking forward 0.000000 meters along route # Maximum depth: 1097.246067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.246067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.856276; captureRadius = 10; duration = 135; initialDepth = 1042.954111; finalDepth = 1047.246067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.246067 # Seafloor depth:-1097.246067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1092.954111 meters looking forward 0.000000 meters along route # Maximum depth: 1092.954111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.954111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759651; longitude = -121.856963; captureRadius = 10; duration = 135; initialDepth = 1045.657074; finalDepth = 1042.954111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.954111 # Seafloor depth:-1092.954111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1095.657074 meters looking forward 0.000000 meters along route # Maximum depth: 1095.657074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.657074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.857606; captureRadius = 10; duration = 135; initialDepth = 1041.987775; finalDepth = 1045.657074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.657074 # Seafloor depth:-1095.657074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1091.987775 meters looking forward 0.000000 meters along route # Maximum depth: 1091.987775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.987775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.858271; captureRadius = 10; duration = 135; initialDepth = 1040.981456; finalDepth = 1041.987775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.987775 # Seafloor depth:-1091.987775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1090.981456 meters looking forward 0.000000 meters along route # Maximum depth: 1090.981456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.981456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.858936; captureRadius = 10; duration = 135; initialDepth = 1042.251300; finalDepth = 1040.981456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.981456 # Seafloor depth:-1090.981456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1092.251300 meters looking forward 0.000000 meters along route # Maximum depth: 1092.251300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.251300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.859601; captureRadius = 10; duration = 135; initialDepth = 1042.462467; finalDepth = 1042.251300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.2513 # Seafloor depth:-1092.251300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1092.462467 meters looking forward 0.000000 meters along route # Maximum depth: 1092.462467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.462467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755515; longitude = -121.860280; captureRadius = 10; duration = 135; initialDepth = 1045.567783; finalDepth = 1042.462467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.462467 # Seafloor depth:-1092.462467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1095.567783 meters looking forward 0.000000 meters along route # Maximum depth: 1095.567783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.567783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.860931; captureRadius = 10; duration = 135; initialDepth = 1045.799111; finalDepth = 1045.567783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.567783 # Seafloor depth:-1095.567783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1095.799111 meters looking forward 0.000000 meters along route # Maximum depth: 1095.799111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.799111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.861596; captureRadius = 10; duration = 135; initialDepth = 1049.363886; finalDepth = 1045.799111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.799111 # Seafloor depth:-1095.799111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1099.363886 meters looking forward 0.000000 meters along route # Maximum depth: 1099.363886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.363886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.862261; captureRadius = 10; duration = 135; initialDepth = 1045.638603; finalDepth = 1049.363886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1049.363886 # Seafloor depth:-1099.363886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1095.638603 meters looking forward 0.000000 meters along route # Maximum depth: 1095.638603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.638603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.862926; captureRadius = 10; duration = 135; initialDepth = 1046.644340; finalDepth = 1045.638603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.638603 # Seafloor depth:-1095.638603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1096.644340 meters looking forward 0.000000 meters along route # Maximum depth: 1096.644340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.644340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751380; longitude = -121.863597; captureRadius = 10; duration = 135; initialDepth = 1045.655200; finalDepth = 1046.644340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.64434 # Seafloor depth:-1096.644340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1095.655200 meters looking forward 0.000000 meters along route # Maximum depth: 1095.655200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.655200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.864256; captureRadius = 10; duration = 135; initialDepth = 1039.393092; finalDepth = 1045.655200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.6552 # Seafloor depth:-1095.655200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1089.393092 meters looking forward 0.000000 meters along route # Maximum depth: 1089.393092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.393092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749657; longitude = -121.864979; captureRadius = 10; duration = 135; initialDepth = 1047.484450; finalDepth = 1039.393092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.393092 # Seafloor depth:-1089.393092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1097.484450 meters looking forward 0.000000 meters along route # Maximum depth: 1097.484450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.484450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.865586; captureRadius = 10; duration = 135; initialDepth = 1046.618941; finalDepth = 1047.484450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.48445 # Seafloor depth:-1097.484450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 135.922320 meters # Minimum depth: 1096.618941 meters looking forward 0.000000 meters along route # Maximum depth: 1096.618941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.618941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747933; longitude = -121.866361; captureRadius = 10; duration = 135; initialDepth = 1044.093842; finalDepth = 1046.618941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.618941 # Seafloor depth:-1096.618941 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 135.922320 meters # Minimum depth: 1094.093842 meters looking forward 0.000000 meters along route # Maximum depth: 1094.093842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.093842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747158; longitude = -121.866983; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1047.680570; finalDepth = 1044.093842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.093842 # Seafloor depth:-1094.093842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 135.922320 meters # Minimum depth: 1097.680570 meters looking forward 0.000000 meters along route # Maximum depth: 1097.680570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.680570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.866620; captureRadius = 10; duration = 135; initialDepth = 1048.388947; finalDepth = 1047.680570; 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:1047.68057 # Seafloor depth:-1097.680570 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 135.922320 meters # Minimum depth: 1098.388947 meters looking forward 0.000000 meters along route # Maximum depth: 1098.388947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.388947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746418; longitude = -121.865595; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1050.799860; finalDepth = 1048.388947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.388947 # Seafloor depth:-1098.388947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1100.799860 meters looking forward 0.000000 meters along route # Maximum depth: 1100.799860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.799860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.864935; captureRadius = 10; duration = 135; initialDepth = 1043.718150; finalDepth = 1050.799860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.79986 # Seafloor depth:-1100.799860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1093.718150 meters looking forward 0.000000 meters along route # Maximum depth: 1093.718150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.718150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.864270; captureRadius = 10; duration = 135; initialDepth = 1043.800949; finalDepth = 1043.718150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.71815 # Seafloor depth:-1093.718150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1093.800949 meters looking forward 0.000000 meters along route # Maximum depth: 1093.800949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.800949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748909; longitude = -121.863597; captureRadius = 10; duration = 135; initialDepth = 1039.301651; finalDepth = 1043.800949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.800949 # Seafloor depth:-1093.800949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1089.301651 meters looking forward 0.000000 meters along route # Maximum depth: 1089.301651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.301651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.862940; captureRadius = 10; duration = 135; initialDepth = 1040.293837; finalDepth = 1039.301651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.301651 # Seafloor depth:-1089.301651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1090.293837 meters looking forward 0.000000 meters along route # Maximum depth: 1090.293837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.293837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750632; longitude = -121.862215; captureRadius = 10; duration = 135; initialDepth = 1039.942309; finalDepth = 1040.293837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.293837 # Seafloor depth:-1090.293837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1089.942309 meters looking forward 0.000000 meters along route # Maximum depth: 1089.942309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.942309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.861610; captureRadius = 10; duration = 135; initialDepth = 1041.978192; finalDepth = 1039.942309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.942309 # Seafloor depth:-1089.942309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1091.978192 meters looking forward 0.000000 meters along route # Maximum depth: 1091.978192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.978192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.860945; captureRadius = 10; duration = 135; initialDepth = 1044.362501; finalDepth = 1041.978192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.978192 # Seafloor depth:-1091.978192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1094.362501 meters looking forward 0.000000 meters along route # Maximum depth: 1094.362501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.362501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.860280; captureRadius = 10; duration = 135; initialDepth = 1042.895095; finalDepth = 1044.362501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.362501 # Seafloor depth:-1094.362501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1092.895095 meters looking forward 0.000000 meters along route # Maximum depth: 1092.895095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.895095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.859615; captureRadius = 10; duration = 135; initialDepth = 1040.404772; finalDepth = 1042.895095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.895095 # Seafloor depth:-1092.895095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1090.404772 meters looking forward 0.000000 meters along route # Maximum depth: 1090.404772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.404772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754768; longitude = -121.858898; captureRadius = 10; duration = 135; initialDepth = 1044.769846; finalDepth = 1040.404772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.404772 # Seafloor depth:-1090.404772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1094.769846 meters looking forward 0.000000 meters along route # Maximum depth: 1094.769846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.769846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.858284; captureRadius = 10; duration = 135; initialDepth = 1040.850330; finalDepth = 1044.769846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.769846 # Seafloor depth:-1094.769846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1090.850330 meters looking forward 0.000000 meters along route # Maximum depth: 1090.850330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.850330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.857619; captureRadius = 10; duration = 135; initialDepth = 1041.951790; finalDepth = 1040.850330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.85033 # Seafloor depth:-1090.850330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1091.951790 meters looking forward 0.000000 meters along route # Maximum depth: 1091.951790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.951790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.856954; captureRadius = 10; duration = 135; initialDepth = 1050.822996; finalDepth = 1041.951790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.95179 # Seafloor depth:-1091.951790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1100.822996 meters looking forward 0.000000 meters along route # Maximum depth: 1100.822996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.822996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.856289; captureRadius = 10; duration = 135; initialDepth = 1042.509025; finalDepth = 1050.822996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1050.822996 # Seafloor depth:-1100.822996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1092.509025 meters looking forward 0.000000 meters along route # Maximum depth: 1092.509025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.509025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758903; longitude = -121.855581; captureRadius = 10; duration = 135; initialDepth = 1042.891171; finalDepth = 1042.509025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.509025 # Seafloor depth:-1092.509025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1092.891171 meters looking forward 0.000000 meters along route # Maximum depth: 1092.891171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.891171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.854959; captureRadius = 10; duration = 135; initialDepth = 1038.281811; finalDepth = 1042.891171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.891171 # Seafloor depth:-1092.891171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1088.281811 meters looking forward 0.000000 meters along route # Maximum depth: 1088.281811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.281811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.854294; captureRadius = 10; duration = 135; initialDepth = 1036.926615; finalDepth = 1038.281811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.281811 # Seafloor depth:-1088.281811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.926615 meters looking forward 0.000000 meters along route # Maximum depth: 1086.926615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.926615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.853629; captureRadius = 10; duration = 135; initialDepth = 1035.480431; finalDepth = 1036.926615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.926615 # Seafloor depth:-1086.926615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1085.480431 meters looking forward 0.000000 meters along route # Maximum depth: 1085.480431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.480431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.852964; captureRadius = 10; duration = 135; initialDepth = 1037.744880; finalDepth = 1035.480431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.480431 # Seafloor depth:-1085.480431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1087.744880 meters looking forward 0.000000 meters along route # Maximum depth: 1087.744880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.744880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763039; longitude = -121.852265; captureRadius = 10; duration = 135; initialDepth = 1051.238968; finalDepth = 1037.744880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.74488 # Seafloor depth:-1087.744880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1101.238968 meters looking forward 0.000000 meters along route # Maximum depth: 1101.238968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.238968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.851634; captureRadius = 10; duration = 135; initialDepth = 1041.207196; finalDepth = 1051.238968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1051.238968 # Seafloor depth:-1101.238968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1091.207196 meters looking forward 0.000000 meters along route # Maximum depth: 1091.207196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.207196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.850969; captureRadius = 10; duration = 135; initialDepth = 1036.627652; finalDepth = 1041.207196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.207196 # Seafloor depth:-1091.207196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.627652 meters looking forward 0.000000 meters along route # Maximum depth: 1086.627652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.627652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.850304; captureRadius = 10; duration = 135; initialDepth = 1037.981546; finalDepth = 1036.627652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.627652 # Seafloor depth:-1086.627652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1087.981546 meters looking forward 0.000000 meters along route # Maximum depth: 1087.981546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.981546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.849639; captureRadius = 10; duration = 135; initialDepth = 1037.159140; finalDepth = 1037.981546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.981546 # Seafloor depth:-1087.981546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1087.159140 meters looking forward 0.000000 meters along route # Maximum depth: 1087.159140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.159140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767174; longitude = -121.848948; captureRadius = 10; duration = 135; initialDepth = 1039.523067; finalDepth = 1037.159140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.15914 # Seafloor depth:-1087.159140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1089.523067 meters looking forward 0.000000 meters along route # Maximum depth: 1089.523067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.523067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.848309; captureRadius = 10; duration = 135; initialDepth = 1040.507055; finalDepth = 1039.523067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.523067 # Seafloor depth:-1089.523067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1090.507055 meters looking forward 0.000000 meters along route # Maximum depth: 1090.507055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.507055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.847644; captureRadius = 10; duration = 135; initialDepth = 1037.507522; finalDepth = 1040.507055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.507055 # Seafloor depth:-1090.507055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1087.507522 meters looking forward 0.000000 meters along route # Maximum depth: 1087.507522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.507522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.846978; captureRadius = 10; duration = 135; initialDepth = 1036.553232; finalDepth = 1037.507522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.507522 # Seafloor depth:-1087.507522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.553232 meters looking forward 0.000000 meters along route # Maximum depth: 1086.553232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.553232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.846313; captureRadius = 10; duration = 135; initialDepth = 1038.273455; finalDepth = 1036.553232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.553232 # Seafloor depth:-1086.553232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1088.273455 meters looking forward 0.000000 meters along route # Maximum depth: 1088.273455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.273455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771310; longitude = -121.845631; captureRadius = 10; duration = 135; initialDepth = 1038.563641; finalDepth = 1038.273455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.273455 # Seafloor depth:-1088.273455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1088.563641 meters looking forward 0.000000 meters along route # Maximum depth: 1088.563641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.563641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.844983; captureRadius = 10; duration = 135; initialDepth = 1037.701432; finalDepth = 1038.563641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.563641 # Seafloor depth:-1088.563641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1087.701432 meters looking forward 0.000000 meters along route # Maximum depth: 1087.701432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.701432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.844318; captureRadius = 10; duration = 135; initialDepth = 1034.238706; finalDepth = 1037.701432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.701432 # Seafloor depth:-1087.701432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1084.238706 meters looking forward 0.000000 meters along route # Maximum depth: 1084.238706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.238706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.843653; captureRadius = 10; duration = 135; initialDepth = 1034.757782; finalDepth = 1034.238706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.238706 # Seafloor depth:-1084.238706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1084.757782 meters looking forward 0.000000 meters along route # Maximum depth: 1084.757782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.757782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.842988; captureRadius = 10; duration = 135; initialDepth = 1041.037931; finalDepth = 1034.757782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.757782 # Seafloor depth:-1084.757782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1091.037931 meters looking forward 0.000000 meters along route # Maximum depth: 1091.037931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.037931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775445; longitude = -121.842314; captureRadius = 10; duration = 135; initialDepth = 1039.046330; finalDepth = 1041.037931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.037931 # Seafloor depth:-1091.037931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1089.046330 meters looking forward 0.000000 meters along route # Maximum depth: 1089.046330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.046330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.841658; captureRadius = 10; duration = 135; initialDepth = 1039.492782; finalDepth = 1039.046330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.04633 # Seafloor depth:-1089.046330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1089.492782 meters looking forward 0.000000 meters along route # Maximum depth: 1089.492782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.492782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.840993; captureRadius = 10; duration = 135; initialDepth = 1038.804708; finalDepth = 1039.492782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.492782 # Seafloor depth:-1089.492782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1088.804708 meters looking forward 0.000000 meters along route # Maximum depth: 1088.804708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.804708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.840328; captureRadius = 10; duration = 135; initialDepth = 1036.693160; finalDepth = 1038.804708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.804708 # Seafloor depth:-1088.804708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.693160 meters looking forward 0.000000 meters along route # Maximum depth: 1086.693160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.693160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.839663; captureRadius = 10; duration = 135; initialDepth = 1038.927426; finalDepth = 1036.693160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.69316 # Seafloor depth:-1086.693160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1088.927426 meters looking forward 0.000000 meters along route # Maximum depth: 1088.927426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.927426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779581; longitude = -121.838997; captureRadius = 10; duration = 135; initialDepth = 1042.144339; finalDepth = 1038.927426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.927426 # Seafloor depth:-1088.927426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1092.144339 meters looking forward 0.000000 meters along route # Maximum depth: 1092.144339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.144339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.838333; captureRadius = 10; duration = 135; initialDepth = 1040.360173; finalDepth = 1042.144339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.144339 # Seafloor depth:-1092.144339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1090.360173 meters looking forward 0.000000 meters along route # Maximum depth: 1090.360173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.360173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781304; longitude = -121.837615; captureRadius = 10; duration = 135; initialDepth = 1041.585522; finalDepth = 1040.360173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.360173 # Seafloor depth:-1090.360173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1091.585522 meters looking forward 0.000000 meters along route # Maximum depth: 1091.585522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.585522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.837003; captureRadius = 10; duration = 135; initialDepth = 1042.832109; finalDepth = 1041.585522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.585522 # Seafloor depth:-1091.585522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1092.832109 meters looking forward 0.000000 meters along route # Maximum depth: 1092.832109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.832109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.836338; captureRadius = 10; duration = 135; initialDepth = 1036.490894; finalDepth = 1042.832109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.832109 # Seafloor depth:-1092.832109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.490894 meters looking forward 0.000000 meters along route # Maximum depth: 1086.490894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.490894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.835672; captureRadius = 10; duration = 135; initialDepth = 1037.620462; finalDepth = 1036.490894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.490894 # Seafloor depth:-1086.490894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1087.620462 meters looking forward 0.000000 meters along route # Maximum depth: 1087.620462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.620462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.835007; captureRadius = 10; duration = 135; initialDepth = 1036.638564; finalDepth = 1037.620462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.620462 # Seafloor depth:-1087.620462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.638564 meters looking forward 0.000000 meters along route # Maximum depth: 1086.638564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.638564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785439; longitude = -121.834298; captureRadius = 10; duration = 135; initialDepth = 1039.455977; finalDepth = 1036.638564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.638564 # Seafloor depth:-1086.638564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1089.455977 meters looking forward 0.000000 meters along route # Maximum depth: 1089.455977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.455977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.833677; captureRadius = 10; duration = 135; initialDepth = 1041.073370; finalDepth = 1039.455977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.455977 # Seafloor depth:-1089.455977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1091.073370 meters looking forward 0.000000 meters along route # Maximum depth: 1091.073370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.073370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.833012; captureRadius = 10; duration = 135; initialDepth = 1046.664544; finalDepth = 1041.073370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.07337 # Seafloor depth:-1091.073370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1096.664544 meters looking forward 0.000000 meters along route # Maximum depth: 1096.664544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.664544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.832347; captureRadius = 10; duration = 135; initialDepth = 1047.202444; finalDepth = 1046.664544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.664544 # Seafloor depth:-1096.664544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1097.202444 meters looking forward 0.000000 meters along route # Maximum depth: 1097.202444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.202444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.831682; captureRadius = 10; duration = 135; initialDepth = 1047.740925; finalDepth = 1047.202444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.202444 # Seafloor depth:-1097.202444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1097.740925 meters looking forward 0.000000 meters along route # Maximum depth: 1097.740925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.740925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789575; longitude = -121.830981; captureRadius = 10; duration = 135; initialDepth = 1043.489144; finalDepth = 1047.740925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.740925 # Seafloor depth:-1097.740925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1093.489144 meters looking forward 0.000000 meters along route # Maximum depth: 1093.489144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.489144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.830352; captureRadius = 10; duration = 135; initialDepth = 1036.655520; finalDepth = 1043.489144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.489144 # Seafloor depth:-1093.489144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.655520 meters looking forward 0.000000 meters along route # Maximum depth: 1086.655520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.655520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.829687; captureRadius = 10; duration = 135; initialDepth = 1031.743137; finalDepth = 1036.655520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.65552 # Seafloor depth:-1086.655520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1081.743137 meters looking forward 0.000000 meters along route # Maximum depth: 1081.743137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.743137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.829022; captureRadius = 10; duration = 135; initialDepth = 1032.491557; finalDepth = 1031.743137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.743137 # Seafloor depth:-1081.743137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1082.491557 meters looking forward 0.000000 meters along route # Maximum depth: 1082.491557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.491557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.828357; captureRadius = 10; duration = 135; initialDepth = 1036.490922; finalDepth = 1032.491557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.491557 # Seafloor depth:-1082.491557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1086.490922 meters looking forward 0.000000 meters along route # Maximum depth: 1086.490922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.490922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793710; longitude = -121.827665; captureRadius = 10; duration = 135; initialDepth = 1028.396081; finalDepth = 1036.490922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.490922 # Seafloor depth:-1086.490922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1078.396081 meters looking forward 0.000000 meters along route # Maximum depth: 1078.396081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.396081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.827027; captureRadius = 10; duration = 135; initialDepth = 1024.834881; finalDepth = 1028.396081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.396081 # Seafloor depth:-1078.396081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1074.834881 meters looking forward 0.000000 meters along route # Maximum depth: 1074.834881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.834881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.826362; captureRadius = 10; duration = 135; initialDepth = 1022.848868; finalDepth = 1024.834881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.834881 # Seafloor depth:-1074.834881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1072.848868 meters looking forward 0.000000 meters along route # Maximum depth: 1072.848868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.848868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.825697; captureRadius = 10; duration = 135; initialDepth = 1020.974257; finalDepth = 1022.848868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.848868 # Seafloor depth:-1072.848868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1070.974257 meters looking forward 0.000000 meters along route # Maximum depth: 1070.974257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.974257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.825031; captureRadius = 10; duration = 135; initialDepth = 1018.300550; finalDepth = 1020.974257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.974257 # Seafloor depth:-1070.974257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1068.300550 meters looking forward 0.000000 meters along route # Maximum depth: 1068.300550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.300550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797846; longitude = -121.824348; captureRadius = 10; duration = 135; initialDepth = 1018.440610; finalDepth = 1018.300550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.30055 # Seafloor depth:-1068.300550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.922320 meters # Minimum depth: 1068.440610 meters looking forward 0.000000 meters along route # Maximum depth: 1068.440610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.440610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.823701; captureRadius = 10; duration = 135; initialDepth = 1017.678986; finalDepth = 1018.440610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.44061 # Seafloor depth:-1068.440610 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 135.922320 meters # Minimum depth: 1067.678986 meters looking forward 0.000000 meters along route # Maximum depth: 1067.678986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.678986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799489; longitude = -121.823030; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1016.065677; finalDepth = 1017.678986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.678986 # Seafloor depth:-1067.678986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 135.922320 meters # Minimum depth: 1066.065677 meters looking forward 0.000000 meters along route # Maximum depth: 1066.065677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.065677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.799308; longitude = -121.822689; captureRadius = 10; duration = 135; initialDepth = 1014.456879; finalDepth = 1016.065677; 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:1016.065677 # Seafloor depth:-1066.065677 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 135.922320 meters # Minimum depth: 1064.456879 meters looking forward 0.000000 meters along route # Maximum depth: 1064.456879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.456879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798749; longitude = -121.821641; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1013.474296; finalDepth = 1014.456879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.456879 # Seafloor depth:-1064.456879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1063.474296 meters looking forward 0.000000 meters along route # Maximum depth: 1063.474296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.474296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798652; longitude = -121.821719; captureRadius = 10; duration = 135; initialDepth = 1014.973616; finalDepth = 1013.474296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.474296 # Seafloor depth:-1063.474296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1064.973616 meters looking forward 0.000000 meters along route # Maximum depth: 1064.973616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.973616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797787; longitude = -121.822413; captureRadius = 10; duration = 135; initialDepth = 1017.441042; finalDepth = 1014.973616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.973616 # Seafloor depth:-1064.973616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1067.441042 meters looking forward 0.000000 meters along route # Maximum depth: 1067.441042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.441042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796993; longitude = -121.823049; captureRadius = 10; duration = 135; initialDepth = 1019.378523; finalDepth = 1017.441042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.441042 # Seafloor depth:-1067.441042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1069.378523 meters looking forward 0.000000 meters along route # Maximum depth: 1069.378523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.378523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.823714; captureRadius = 10; duration = 135; initialDepth = 1022.105701; finalDepth = 1019.378523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.378523 # Seafloor depth:-1069.378523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1072.105701 meters looking forward 0.000000 meters along route # Maximum depth: 1072.105701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.105701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.824379; captureRadius = 10; duration = 135; initialDepth = 1022.059801; finalDepth = 1022.105701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.105701 # Seafloor depth:-1072.105701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1072.059801 meters looking forward 0.000000 meters along route # Maximum depth: 1072.059801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.059801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.825044; captureRadius = 10; duration = 135; initialDepth = 1025.302964; finalDepth = 1022.059801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.059801 # Seafloor depth:-1072.059801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1075.302964 meters looking forward 0.000000 meters along route # Maximum depth: 1075.302964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.302964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793651; longitude = -121.825730; captureRadius = 10; duration = 135; initialDepth = 1027.287029; finalDepth = 1025.302964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.302964 # Seafloor depth:-1075.302964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1077.287029 meters looking forward 0.000000 meters along route # Maximum depth: 1077.287029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.287029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.826374; captureRadius = 10; duration = 135; initialDepth = 1027.123623; finalDepth = 1027.287029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.287029 # Seafloor depth:-1077.287029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1077.123623 meters looking forward 0.000000 meters along route # Maximum depth: 1077.123623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.123623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.827039; captureRadius = 10; duration = 135; initialDepth = 1031.992182; finalDepth = 1027.123623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.123623 # Seafloor depth:-1077.123623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1081.992182 meters looking forward 0.000000 meters along route # Maximum depth: 1081.992182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.992182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.827704; captureRadius = 10; duration = 135; initialDepth = 1033.823274; finalDepth = 1031.992182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.992182 # Seafloor depth:-1081.992182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1083.823274 meters looking forward 0.000000 meters along route # Maximum depth: 1083.823274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.823274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.828369; captureRadius = 10; duration = 135; initialDepth = 1041.959909; finalDepth = 1033.823274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.823274 # Seafloor depth:-1083.823274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1091.959909 meters looking forward 0.000000 meters along route # Maximum depth: 1091.959909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.959909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789515; longitude = -121.829047; captureRadius = 10; duration = 135; initialDepth = 1045.317138; finalDepth = 1041.959909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.959909 # Seafloor depth:-1091.959909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1095.317138 meters looking forward 0.000000 meters along route # Maximum depth: 1095.317138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.317138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.829700; captureRadius = 10; duration = 135; initialDepth = 1045.769525; finalDepth = 1045.317138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.317138 # Seafloor depth:-1095.317138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1095.769525 meters looking forward 0.000000 meters along route # Maximum depth: 1095.769525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.769525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.830365; captureRadius = 10; duration = 135; initialDepth = 1045.649366; finalDepth = 1045.769525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.769525 # Seafloor depth:-1095.769525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1095.649366 meters looking forward 0.000000 meters along route # Maximum depth: 1095.649366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.649366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.831030; captureRadius = 10; duration = 135; initialDepth = 1038.410627; finalDepth = 1045.649366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.649366 # Seafloor depth:-1095.649366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1088.410627 meters looking forward 0.000000 meters along route # Maximum depth: 1088.410627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.410627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.831695; captureRadius = 10; duration = 135; initialDepth = 1033.617106; finalDepth = 1038.410627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.410627 # Seafloor depth:-1088.410627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1083.617106 meters looking forward 0.000000 meters along route # Maximum depth: 1083.617106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.617106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785380; longitude = -121.832363; captureRadius = 10; duration = 135; initialDepth = 1031.573315; finalDepth = 1033.617106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.617106 # Seafloor depth:-1083.617106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1081.573315 meters looking forward 0.000000 meters along route # Maximum depth: 1081.573315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.573315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.833025; captureRadius = 10; duration = 135; initialDepth = 1031.641876; finalDepth = 1031.573315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.573315 # Seafloor depth:-1081.573315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1081.641876 meters looking forward 0.000000 meters along route # Maximum depth: 1081.641876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.641876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783657; longitude = -121.833746; captureRadius = 10; duration = 135; initialDepth = 1032.629251; finalDepth = 1031.641876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.641876 # Seafloor depth:-1081.641876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1082.629251 meters looking forward 0.000000 meters along route # Maximum depth: 1082.629251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.629251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.834355; captureRadius = 10; duration = 135; initialDepth = 1040.034442; finalDepth = 1032.629251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.629251 # Seafloor depth:-1082.629251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1090.034442 meters looking forward 0.000000 meters along route # Maximum depth: 1090.034442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.034442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.835020; captureRadius = 10; duration = 135; initialDepth = 1037.933530; finalDepth = 1040.034442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.034442 # Seafloor depth:-1090.034442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1087.933530 meters looking forward 0.000000 meters along route # Maximum depth: 1087.933530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.933530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.835685; captureRadius = 10; duration = 135; initialDepth = 1033.347041; finalDepth = 1037.933530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.93353 # Seafloor depth:-1087.933530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1083.347041 meters looking forward 0.000000 meters along route # Maximum depth: 1083.347041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.347041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.836350; captureRadius = 10; duration = 135; initialDepth = 1036.840796; finalDepth = 1033.347041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.347041 # Seafloor depth:-1083.347041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1086.840796 meters looking forward 0.000000 meters along route # Maximum depth: 1086.840796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.840796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779521; longitude = -121.837062; captureRadius = 10; duration = 135; initialDepth = 1038.425910; finalDepth = 1036.840796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.840796 # Seafloor depth:-1086.840796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1088.425910 meters looking forward 0.000000 meters along route # Maximum depth: 1088.425910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.425910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.837680; captureRadius = 10; duration = 135; initialDepth = 1035.880818; finalDepth = 1038.425910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.42591 # Seafloor depth:-1088.425910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.880818 meters looking forward 0.000000 meters along route # Maximum depth: 1085.880818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.880818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.838345; captureRadius = 10; duration = 135; initialDepth = 1036.026909; finalDepth = 1035.880818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.880818 # Seafloor depth:-1085.880818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1086.026909 meters looking forward 0.000000 meters along route # Maximum depth: 1086.026909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.026909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.839010; captureRadius = 10; duration = 135; initialDepth = 1035.441270; finalDepth = 1036.026909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.026909 # Seafloor depth:-1086.026909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.441270 meters looking forward 0.000000 meters along route # Maximum depth: 1085.441270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.441270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.839675; captureRadius = 10; duration = 135; initialDepth = 1037.716465; finalDepth = 1035.441270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.44127 # Seafloor depth:-1085.441270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1087.716465 meters looking forward 0.000000 meters along route # Maximum depth: 1087.716465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.716465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775386; longitude = -121.840379; captureRadius = 10; duration = 135; initialDepth = 1036.053451; finalDepth = 1037.716465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.716465 # Seafloor depth:-1087.716465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1086.053451 meters looking forward 0.000000 meters along route # Maximum depth: 1086.053451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.053451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.841006; captureRadius = 10; duration = 135; initialDepth = 1035.862652; finalDepth = 1036.053451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.053451 # Seafloor depth:-1086.053451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.862652 meters looking forward 0.000000 meters along route # Maximum depth: 1085.862652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.862652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.841671; captureRadius = 10; duration = 135; initialDepth = 1035.002771; finalDepth = 1035.862652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.862652 # Seafloor depth:-1085.862652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.002771 meters looking forward 0.000000 meters along route # Maximum depth: 1085.002771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.002771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.842336; captureRadius = 10; duration = 135; initialDepth = 1035.407745; finalDepth = 1035.002771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.002771 # Seafloor depth:-1085.002771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.407745 meters looking forward 0.000000 meters along route # Maximum depth: 1085.407745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.407745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.843001; captureRadius = 10; duration = 135; initialDepth = 1034.926592; finalDepth = 1035.407745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.407745 # Seafloor depth:-1085.407745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1084.926592 meters looking forward 0.000000 meters along route # Maximum depth: 1084.926592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.926592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771250; longitude = -121.843696; captureRadius = 10; duration = 135; initialDepth = 1035.250325; finalDepth = 1034.926592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.926592 # Seafloor depth:-1084.926592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.250325 meters looking forward 0.000000 meters along route # Maximum depth: 1085.250325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.250325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.844331; captureRadius = 10; duration = 135; initialDepth = 1031.501642; finalDepth = 1035.250325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.250325 # Seafloor depth:-1085.250325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1081.501642 meters looking forward 0.000000 meters along route # Maximum depth: 1081.501642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.501642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.844996; captureRadius = 10; duration = 135; initialDepth = 1032.824682; finalDepth = 1031.501642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.501642 # Seafloor depth:-1081.501642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1082.824682 meters looking forward 0.000000 meters along route # Maximum depth: 1082.824682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.824682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.845661; captureRadius = 10; duration = 135; initialDepth = 1035.669345; finalDepth = 1032.824682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.824682 # Seafloor depth:-1082.824682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.669345 meters looking forward 0.000000 meters along route # Maximum depth: 1085.669345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.669345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.846326; captureRadius = 10; duration = 135; initialDepth = 1034.249362; finalDepth = 1035.669345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.669345 # Seafloor depth:-1085.669345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1084.249362 meters looking forward 0.000000 meters along route # Maximum depth: 1084.249362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.249362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767115; longitude = -121.847013; captureRadius = 10; duration = 135; initialDepth = 1034.647208; finalDepth = 1034.249362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.249362 # Seafloor depth:-1084.249362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1084.647208 meters looking forward 0.000000 meters along route # Maximum depth: 1084.647208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.647208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.847656; captureRadius = 10; duration = 135; initialDepth = 1033.236866; finalDepth = 1034.647208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.647208 # Seafloor depth:-1084.647208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1083.236866 meters looking forward 0.000000 meters along route # Maximum depth: 1083.236866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.236866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.848321; captureRadius = 10; duration = 135; initialDepth = 1031.752301; finalDepth = 1033.236866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.236866 # Seafloor depth:-1083.236866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1081.752301 meters looking forward 0.000000 meters along route # Maximum depth: 1081.752301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.752301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.848986; captureRadius = 10; duration = 135; initialDepth = 1037.153216; finalDepth = 1031.752301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.752301 # Seafloor depth:-1081.752301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1087.153216 meters looking forward 0.000000 meters along route # Maximum depth: 1087.153216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.153216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.849651; captureRadius = 10; duration = 135; initialDepth = 1048.735912; finalDepth = 1037.153216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.153216 # Seafloor depth:-1087.153216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1098.735912 meters looking forward 0.000000 meters along route # Maximum depth: 1098.735912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.735912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762979; longitude = -121.850330; captureRadius = 10; duration = 135; initialDepth = 1044.531872; finalDepth = 1048.735912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1048.735912 # Seafloor depth:-1098.735912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1094.531872 meters looking forward 0.000000 meters along route # Maximum depth: 1094.531872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.531872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.850981; captureRadius = 10; duration = 135; initialDepth = 1034.831597; finalDepth = 1044.531872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1044.531872 # Seafloor depth:-1094.531872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1084.831597 meters looking forward 0.000000 meters along route # Maximum depth: 1084.831597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.831597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.851647; captureRadius = 10; duration = 135; initialDepth = 1036.674398; finalDepth = 1034.831597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.831597 # Seafloor depth:-1084.831597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1086.674398 meters looking forward 0.000000 meters along route # Maximum depth: 1086.674398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.674398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.852312; captureRadius = 10; duration = 135; initialDepth = 1035.583070; finalDepth = 1036.674398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.674398 # Seafloor depth:-1086.674398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.583070 meters looking forward 0.000000 meters along route # Maximum depth: 1085.583070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.583070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.852977; captureRadius = 10; duration = 135; initialDepth = 1038.227630; finalDepth = 1035.583070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.58307 # Seafloor depth:-1085.583070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1088.227630 meters looking forward 0.000000 meters along route # Maximum depth: 1088.227630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.227630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758844; longitude = -121.853647; captureRadius = 10; duration = 135; initialDepth = 1038.124643; finalDepth = 1038.227630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.22763 # Seafloor depth:-1088.227630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1088.124643 meters looking forward 0.000000 meters along route # Maximum depth: 1088.124643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.124643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.854307; captureRadius = 10; duration = 135; initialDepth = 1042.764072; finalDepth = 1038.124643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.124643 # Seafloor depth:-1088.124643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1092.764072 meters looking forward 0.000000 meters along route # Maximum depth: 1092.764072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.764072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757121; longitude = -121.855029; captureRadius = 10; duration = 135; initialDepth = 1038.034819; finalDepth = 1042.764072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.764072 # Seafloor depth:-1092.764072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1088.034819 meters looking forward 0.000000 meters along route # Maximum depth: 1088.034819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.034819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.855637; captureRadius = 10; duration = 135; initialDepth = 1037.476452; finalDepth = 1038.034819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.034819 # Seafloor depth:-1088.034819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1087.476452 meters looking forward 0.000000 meters along route # Maximum depth: 1087.476452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.476452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.856302; captureRadius = 10; duration = 135; initialDepth = 1036.794870; finalDepth = 1037.476452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.476452 # Seafloor depth:-1087.476452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1086.794870 meters looking forward 0.000000 meters along route # Maximum depth: 1086.794870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.794870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.856967; captureRadius = 10; duration = 135; initialDepth = 1035.806179; finalDepth = 1036.794870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.79487 # Seafloor depth:-1086.794870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1085.806179 meters looking forward 0.000000 meters along route # Maximum depth: 1085.806179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.806179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.857632; captureRadius = 10; duration = 135; initialDepth = 1037.899335; finalDepth = 1035.806179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.806179 # Seafloor depth:-1085.806179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1087.899335 meters looking forward 0.000000 meters along route # Maximum depth: 1087.899335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.899335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752985; longitude = -121.858345; captureRadius = 10; duration = 135; initialDepth = 1033.918159; finalDepth = 1037.899335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.899335 # Seafloor depth:-1087.899335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1083.918159 meters looking forward 0.000000 meters along route # Maximum depth: 1083.918159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.918159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.858962; captureRadius = 10; duration = 135; initialDepth = 1036.995087; finalDepth = 1033.918159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.918159 # Seafloor depth:-1083.918159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1086.995087 meters looking forward 0.000000 meters along route # Maximum depth: 1086.995087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.995087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.859627; captureRadius = 10; duration = 135; initialDepth = 1038.397120; finalDepth = 1036.995087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.995087 # Seafloor depth:-1086.995087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1088.397120 meters looking forward 0.000000 meters along route # Maximum depth: 1088.397120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.397120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.860292; captureRadius = 10; duration = 135; initialDepth = 1039.139247; finalDepth = 1038.397120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.39712 # Seafloor depth:-1088.397120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1089.139247 meters looking forward 0.000000 meters along route # Maximum depth: 1089.139247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.139247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.860957; captureRadius = 10; duration = 135; initialDepth = 1046.191939; finalDepth = 1039.139247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.139247 # Seafloor depth:-1089.139247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1096.191939 meters looking forward 0.000000 meters along route # Maximum depth: 1096.191939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.191939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748850; longitude = -121.861662; captureRadius = 10; duration = 135; initialDepth = 1045.051559; finalDepth = 1046.191939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1046.191939 # Seafloor depth:-1096.191939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1095.051559 meters looking forward 0.000000 meters along route # Maximum depth: 1095.051559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1045.051559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.862288; captureRadius = 10; duration = 135; initialDepth = 1037.798948; finalDepth = 1045.051559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1045.051559 # Seafloor depth:-1095.051559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1087.798948 meters looking forward 0.000000 meters along route # Maximum depth: 1087.798948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.798948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.862953; captureRadius = 10; duration = 135; initialDepth = 1043.608706; finalDepth = 1037.798948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.798948 # Seafloor depth:-1087.798948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 135.922320 meters # Minimum depth: 1093.608706 meters looking forward 0.000000 meters along route # Maximum depth: 1093.608706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.608706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746437; longitude = -121.863597; captureRadius = 10; duration = 135; initialDepth = 1043.752838; finalDepth = 1043.608706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.608706 # Seafloor depth:-1093.608706 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 135.922320 meters # Minimum depth: 1093.752838 meters looking forward 0.000000 meters along route # Maximum depth: 1093.752838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.752838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745678; longitude = -121.864206; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1040.835407; finalDepth = 1043.752838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.752838 # Seafloor depth:-1093.752838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 135.922320 meters # Minimum depth: 1090.835407 meters looking forward 0.000000 meters along route # Maximum depth: 1090.835407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.835407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745501; longitude = -121.863874; captureRadius = 10; duration = 135; initialDepth = 1037.411133; finalDepth = 1040.835407; 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:1040.835407 # Seafloor depth:-1090.835407 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 135.922320 meters # Minimum depth: 1087.411133 meters looking forward 0.000000 meters along route # Maximum depth: 1087.411133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.411133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744939; longitude = -121.862817; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1038.491480; finalDepth = 1037.411133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.411133 # Seafloor depth:-1087.411133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1088.491480 meters looking forward 0.000000 meters along route # Maximum depth: 1088.491480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.491480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.862301; captureRadius = 10; duration = 135; initialDepth = 1039.627864; finalDepth = 1038.491480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.49148 # Seafloor depth:-1088.491480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1089.627864 meters looking forward 0.000000 meters along route # Maximum depth: 1089.627864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.627864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.861636; captureRadius = 10; duration = 135; initialDepth = 1040.367437; finalDepth = 1039.627864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.627864 # Seafloor depth:-1089.627864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1090.367437 meters looking forward 0.000000 meters along route # Maximum depth: 1090.367437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.367437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.860971; captureRadius = 10; duration = 135; initialDepth = 1040.220591; finalDepth = 1040.367437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.367437 # Seafloor depth:-1090.367437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1090.220591 meters looking forward 0.000000 meters along route # Maximum depth: 1090.220591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.220591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748102; longitude = -121.860280; captureRadius = 10; duration = 135; initialDepth = 1036.589572; finalDepth = 1040.220591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.220591 # Seafloor depth:-1090.220591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1086.589572 meters looking forward 0.000000 meters along route # Maximum depth: 1086.589572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.589572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748899; longitude = -121.859641; captureRadius = 10; duration = 135; initialDepth = 1042.171381; finalDepth = 1036.589572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.589572 # Seafloor depth:-1086.589572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1092.171381 meters looking forward 0.000000 meters along route # Maximum depth: 1092.171381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.171381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.858976; captureRadius = 10; duration = 135; initialDepth = 1035.263363; finalDepth = 1042.171381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1042.171381 # Seafloor depth:-1092.171381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1085.263363 meters looking forward 0.000000 meters along route # Maximum depth: 1085.263363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.263363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.858310; captureRadius = 10; duration = 135; initialDepth = 1034.819111; finalDepth = 1035.263363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.263363 # Seafloor depth:-1085.263363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1084.819111 meters looking forward 0.000000 meters along route # Maximum depth: 1084.819111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.819111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.857645; captureRadius = 10; duration = 135; initialDepth = 1037.864672; finalDepth = 1034.819111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.819111 # Seafloor depth:-1084.819111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1087.864672 meters looking forward 0.000000 meters along route # Maximum depth: 1087.864672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.864672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752237; longitude = -121.856963; captureRadius = 10; duration = 135; initialDepth = 1034.798013; finalDepth = 1037.864672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.864672 # Seafloor depth:-1087.864672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1084.798013 meters looking forward 0.000000 meters along route # Maximum depth: 1084.798013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.798013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753045; longitude = -121.856315; captureRadius = 10; duration = 135; initialDepth = 1035.315059; finalDepth = 1034.798013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.798013 # Seafloor depth:-1084.798013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1085.315059 meters looking forward 0.000000 meters along route # Maximum depth: 1085.315059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.315059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.855650; captureRadius = 10; duration = 135; initialDepth = 1038.232785; finalDepth = 1035.315059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.315059 # Seafloor depth:-1085.315059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1088.232785 meters looking forward 0.000000 meters along route # Maximum depth: 1088.232785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.232785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754704; longitude = -121.854985; captureRadius = 10; duration = 135; initialDepth = 1037.081677; finalDepth = 1038.232785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.232785 # Seafloor depth:-1088.232785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1087.081677 meters looking forward 0.000000 meters along route # Maximum depth: 1087.081677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.081677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.854320; captureRadius = 10; duration = 135; initialDepth = 1035.572779; finalDepth = 1037.081677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.081677 # Seafloor depth:-1087.081677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1085.572779 meters looking forward 0.000000 meters along route # Maximum depth: 1085.572779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.572779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756372; longitude = -121.853647; captureRadius = 10; duration = 135; initialDepth = 1039.554308; finalDepth = 1035.572779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.572779 # Seafloor depth:-1085.572779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1089.554308 meters looking forward 0.000000 meters along route # Maximum depth: 1089.554308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.554308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.852990; captureRadius = 10; duration = 135; initialDepth = 1034.808981; finalDepth = 1039.554308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.554308 # Seafloor depth:-1089.554308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1084.808981 meters looking forward 0.000000 meters along route # Maximum depth: 1084.808981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.808981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.852325; captureRadius = 10; duration = 135; initialDepth = 1032.512697; finalDepth = 1034.808981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.808981 # Seafloor depth:-1084.808981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1082.512697 meters looking forward 0.000000 meters along route # Maximum depth: 1082.512697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.512697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758850; longitude = -121.851660; captureRadius = 10; duration = 135; initialDepth = 1031.506578; finalDepth = 1032.512697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.512697 # Seafloor depth:-1082.512697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1081.506578 meters looking forward 0.000000 meters along route # Maximum depth: 1081.506578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.506578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.850994; captureRadius = 10; duration = 135; initialDepth = 1031.967104; finalDepth = 1031.506578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.506578 # Seafloor depth:-1081.506578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1081.967104 meters looking forward 0.000000 meters along route # Maximum depth: 1081.967104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.967104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.850329; captureRadius = 10; duration = 135; initialDepth = 1047.371917; finalDepth = 1031.967104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.967104 # Seafloor depth:-1081.967104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1097.371917 meters looking forward 0.000000 meters along route # Maximum depth: 1097.371917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.371917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.849664; captureRadius = 10; duration = 135; initialDepth = 1034.142655; finalDepth = 1047.371917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1047.371917 # Seafloor depth:-1097.371917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1084.142655 meters looking forward 0.000000 meters along route # Maximum depth: 1084.142655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.142655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762231; longitude = -121.848948; captureRadius = 10; duration = 135; initialDepth = 1033.565560; finalDepth = 1034.142655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.142655 # Seafloor depth:-1084.142655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1083.565560 meters looking forward 0.000000 meters along route # Maximum depth: 1083.565560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.565560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762996; longitude = -121.848334; captureRadius = 10; duration = 135; initialDepth = 1029.091167; finalDepth = 1033.565560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.56556 # Seafloor depth:-1083.565560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1079.091167 meters looking forward 0.000000 meters along route # Maximum depth: 1079.091167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.091167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.847669; captureRadius = 10; duration = 135; initialDepth = 1029.499023; finalDepth = 1029.091167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.091167 # Seafloor depth:-1079.091167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1079.499023 meters looking forward 0.000000 meters along route # Maximum depth: 1079.499023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.499023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.847004; captureRadius = 10; duration = 135; initialDepth = 1031.119187; finalDepth = 1029.499023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.499023 # Seafloor depth:-1079.499023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1081.119187 meters looking forward 0.000000 meters along route # Maximum depth: 1081.119187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.119187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.846339; captureRadius = 10; duration = 135; initialDepth = 1033.491986; finalDepth = 1031.119187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.119187 # Seafloor depth:-1081.119187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1083.491986 meters looking forward 0.000000 meters along route # Maximum depth: 1083.491986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.491986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766366; longitude = -121.845631; captureRadius = 10; duration = 135; initialDepth = 1032.660019; finalDepth = 1033.491986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.491986 # Seafloor depth:-1083.491986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1082.660019 meters looking forward 0.000000 meters along route # Maximum depth: 1082.660019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.660019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767142; longitude = -121.845009; captureRadius = 10; duration = 135; initialDepth = 1033.661156; finalDepth = 1032.660019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.660019 # Seafloor depth:-1082.660019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1083.661156 meters looking forward 0.000000 meters along route # Maximum depth: 1083.661156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.661156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.844344; captureRadius = 10; duration = 135; initialDepth = 1031.037482; finalDepth = 1033.661156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.661156 # Seafloor depth:-1083.661156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1081.037482 meters looking forward 0.000000 meters along route # Maximum depth: 1081.037482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.037482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.843678; captureRadius = 10; duration = 135; initialDepth = 1030.326229; finalDepth = 1031.037482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.037482 # Seafloor depth:-1081.037482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1080.326229 meters looking forward 0.000000 meters along route # Maximum depth: 1080.326229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.326229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.843013; captureRadius = 10; duration = 135; initialDepth = 1031.759829; finalDepth = 1030.326229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.326229 # Seafloor depth:-1080.326229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1081.759829 meters looking forward 0.000000 meters along route # Maximum depth: 1081.759829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.759829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770501; longitude = -121.842314; captureRadius = 10; duration = 135; initialDepth = 1032.798378; finalDepth = 1031.759829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.759829 # Seafloor depth:-1081.759829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1082.798378 meters looking forward 0.000000 meters along route # Maximum depth: 1082.798378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.798378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771288; longitude = -121.841683; captureRadius = 10; duration = 135; initialDepth = 1032.612137; finalDepth = 1032.798378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.798378 # Seafloor depth:-1082.798378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1082.612137 meters looking forward 0.000000 meters along route # Maximum depth: 1082.612137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.612137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.841018; captureRadius = 10; duration = 135; initialDepth = 1032.213857; finalDepth = 1032.612137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.612137 # Seafloor depth:-1082.612137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1082.213857 meters looking forward 0.000000 meters along route # Maximum depth: 1082.213857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.213857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.840353; captureRadius = 10; duration = 135; initialDepth = 1031.803434; finalDepth = 1032.213857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.213857 # Seafloor depth:-1082.213857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1081.803434 meters looking forward 0.000000 meters along route # Maximum depth: 1081.803434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.803434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.839688; captureRadius = 10; duration = 135; initialDepth = 1032.487265; finalDepth = 1031.803434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.803434 # Seafloor depth:-1081.803434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1082.487265 meters looking forward 0.000000 meters along route # Maximum depth: 1082.487265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.487265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774637; longitude = -121.838997; captureRadius = 10; duration = 135; initialDepth = 1029.991026; finalDepth = 1032.487265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.487265 # Seafloor depth:-1082.487265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1079.991026 meters looking forward 0.000000 meters along route # Maximum depth: 1079.991026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.991026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775434; longitude = -121.838358; captureRadius = 10; duration = 135; initialDepth = 1029.582231; finalDepth = 1029.991026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.991026 # Seafloor depth:-1079.991026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1079.582231 meters looking forward 0.000000 meters along route # Maximum depth: 1079.582231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.582231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.837693; captureRadius = 10; duration = 135; initialDepth = 1029.258869; finalDepth = 1029.582231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.582231 # Seafloor depth:-1079.582231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1079.258869 meters looking forward 0.000000 meters along route # Maximum depth: 1079.258869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.258869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.837028; captureRadius = 10; duration = 135; initialDepth = 1030.158906; finalDepth = 1029.258869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.258869 # Seafloor depth:-1079.258869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1080.158906 meters looking forward 0.000000 meters along route # Maximum depth: 1080.158906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.158906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.836363; captureRadius = 10; duration = 135; initialDepth = 1034.394632; finalDepth = 1030.158906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.158906 # Seafloor depth:-1080.158906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1084.394632 meters looking forward 0.000000 meters along route # Maximum depth: 1084.394632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.394632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778772; longitude = -121.835680; captureRadius = 10; duration = 135; initialDepth = 1036.136199; finalDepth = 1034.394632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.394632 # Seafloor depth:-1084.394632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1086.136199 meters looking forward 0.000000 meters along route # Maximum depth: 1086.136199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.136199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779580; longitude = -121.835032; captureRadius = 10; duration = 135; initialDepth = 1039.781595; finalDepth = 1036.136199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.136199 # Seafloor depth:-1086.136199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1089.781595 meters looking forward 0.000000 meters along route # Maximum depth: 1089.781595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.781595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.834367; captureRadius = 10; duration = 135; initialDepth = 1036.542099; finalDepth = 1039.781595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.781595 # Seafloor depth:-1089.781595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1086.542099 meters looking forward 0.000000 meters along route # Maximum depth: 1086.542099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.542099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781238; longitude = -121.833702; captureRadius = 10; duration = 135; initialDepth = 1026.957242; finalDepth = 1036.542099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.542099 # Seafloor depth:-1086.542099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1076.957242 meters looking forward 0.000000 meters along route # Maximum depth: 1076.957242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.957242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.833037; captureRadius = 10; duration = 135; initialDepth = 1026.887223; finalDepth = 1026.957242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.957242 # Seafloor depth:-1076.957242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1076.887223 meters looking forward 0.000000 meters along route # Maximum depth: 1076.887223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.887223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782908; longitude = -121.832363; captureRadius = 10; duration = 135; initialDepth = 1029.081557; finalDepth = 1026.887223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.887223 # Seafloor depth:-1076.887223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1079.081557 meters looking forward 0.000000 meters along route # Maximum depth: 1079.081557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.081557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.831707; captureRadius = 10; duration = 135; initialDepth = 1031.660011; finalDepth = 1029.081557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.081557 # Seafloor depth:-1079.081557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1081.660011 meters looking forward 0.000000 meters along route # Maximum depth: 1081.660011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.660011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.831042; captureRadius = 10; duration = 135; initialDepth = 1036.680026; finalDepth = 1031.660011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.660011 # Seafloor depth:-1081.660011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1086.680026 meters looking forward 0.000000 meters along route # Maximum depth: 1086.680026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.680026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785385; longitude = -121.830377; captureRadius = 10; duration = 135; initialDepth = 1043.441401; finalDepth = 1036.680026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.680026 # Seafloor depth:-1086.680026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1093.441401 meters looking forward 0.000000 meters along route # Maximum depth: 1093.441401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.441401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.829712; captureRadius = 10; duration = 135; initialDepth = 1043.350792; finalDepth = 1043.441401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.441401 # Seafloor depth:-1093.441401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1093.350792 meters looking forward 0.000000 meters along route # Maximum depth: 1093.350792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.350792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.829047; captureRadius = 10; duration = 135; initialDepth = 1043.868556; finalDepth = 1043.350792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.350792 # Seafloor depth:-1093.350792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1093.868556 meters looking forward 0.000000 meters along route # Maximum depth: 1093.868556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.868556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.828381; captureRadius = 10; duration = 135; initialDepth = 1039.726095; finalDepth = 1043.868556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1043.868556 # Seafloor depth:-1093.868556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1089.726095 meters looking forward 0.000000 meters along route # Maximum depth: 1089.726095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.726095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788766; longitude = -121.827665; captureRadius = 10; duration = 135; initialDepth = 1032.110926; finalDepth = 1039.726095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.726095 # Seafloor depth:-1089.726095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1082.110926 meters looking forward 0.000000 meters along route # Maximum depth: 1082.110926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.110926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789531; longitude = -121.827051; captureRadius = 10; duration = 135; initialDepth = 1028.296635; finalDepth = 1032.110926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.110926 # Seafloor depth:-1082.110926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1078.296635 meters looking forward 0.000000 meters along route # Maximum depth: 1078.296635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.296635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.826386; captureRadius = 10; duration = 135; initialDepth = 1024.620730; finalDepth = 1028.296635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.296635 # Seafloor depth:-1078.296635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1074.620730 meters looking forward 0.000000 meters along route # Maximum depth: 1074.620730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.620730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.825721; captureRadius = 10; duration = 135; initialDepth = 1026.655510; finalDepth = 1024.620730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.62073 # Seafloor depth:-1074.620730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1076.655510 meters looking forward 0.000000 meters along route # Maximum depth: 1076.655510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.655510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.825056; captureRadius = 10; duration = 135; initialDepth = 1028.025832; finalDepth = 1026.655510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.65551 # Seafloor depth:-1076.655510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1078.025832 meters looking forward 0.000000 meters along route # Maximum depth: 1078.025832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.025832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792901; longitude = -121.824348; captureRadius = 10; duration = 135; initialDepth = 1021.268798; finalDepth = 1028.025832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.025832 # Seafloor depth:-1078.025832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1071.268798 meters looking forward 0.000000 meters along route # Maximum depth: 1071.268798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.268798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793677; longitude = -121.823726; captureRadius = 10; duration = 135; initialDepth = 1019.452997; finalDepth = 1021.268798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.268798 # Seafloor depth:-1071.268798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1069.452997 meters looking forward 0.000000 meters along route # Maximum depth: 1069.452997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.452997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794506; longitude = -121.823061; captureRadius = 10; duration = 135; initialDepth = 1017.632080; finalDepth = 1019.452997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.452997 # Seafloor depth:-1069.452997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1067.632080 meters looking forward 0.000000 meters along route # Maximum depth: 1067.632080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.632080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795335; longitude = -121.822396; captureRadius = 10; duration = 135; initialDepth = 1015.108489; finalDepth = 1017.632080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.63208 # Seafloor depth:-1067.632080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1065.108489 meters looking forward 0.000000 meters along route # Maximum depth: 1065.108489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.108489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796164; longitude = -121.821731; captureRadius = 10; duration = 135; initialDepth = 1014.835591; finalDepth = 1015.108489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.108489 # Seafloor depth:-1065.108489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 135.922320 meters # Minimum depth: 1064.835591 meters looking forward 0.000000 meters along route # Maximum depth: 1064.835591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.835591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797037; longitude = -121.821031; captureRadius = 10; duration = 135; initialDepth = 1012.260193; finalDepth = 1014.835591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.835591 # Seafloor depth:-1064.835591 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 135.922320 meters # Minimum depth: 1062.260193 meters looking forward 0.000000 meters along route # Maximum depth: 1062.260193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.260193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.798009; longitude = -121.820251; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1011.712106; finalDepth = 1012.260193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.260193 # Seafloor depth:-1062.260193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 135.922320 meters # Minimum depth: 1061.712106 meters looking forward 0.000000 meters along route # Maximum depth: 1061.712106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.712106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797823; longitude = -121.819902; captureRadius = 10; duration = 135; initialDepth = 1010.077881; finalDepth = 1011.712106; 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:1011.712106 # Seafloor depth:-1061.712106 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 135.922320 meters # Minimum depth: 1060.077881 meters looking forward 0.000000 meters along route # Maximum depth: 1060.077881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.077881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.797268; longitude = -121.818862; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1011.783754; finalDepth = 1010.077881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.077881 # Seafloor depth:-1060.077881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1061.783754 meters looking forward 0.000000 meters along route # Maximum depth: 1061.783754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.783754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796441; longitude = -121.819526; captureRadius = 10; duration = 135; initialDepth = 1012.975692; finalDepth = 1011.783754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.783754 # Seafloor depth:-1061.783754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1062.975692 meters looking forward 0.000000 meters along route # Maximum depth: 1062.975692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.975692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795598; longitude = -121.820202; captureRadius = 10; duration = 135; initialDepth = 1014.346173; finalDepth = 1012.975692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.975692 # Seafloor depth:-1062.975692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1064.346173 meters looking forward 0.000000 meters along route # Maximum depth: 1064.346173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.346173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794782; longitude = -121.820856; captureRadius = 10; duration = 135; initialDepth = 1015.631469; finalDepth = 1014.346173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.346173 # Seafloor depth:-1064.346173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1065.631469 meters looking forward 0.000000 meters along route # Maximum depth: 1065.631469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.631469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.821521; captureRadius = 10; duration = 135; initialDepth = 1019.249664; finalDepth = 1015.631469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.631469 # Seafloor depth:-1065.631469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1069.249664 meters looking forward 0.000000 meters along route # Maximum depth: 1069.249664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.249664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793124; longitude = -121.822186; captureRadius = 10; duration = 135; initialDepth = 1022.388403; finalDepth = 1019.249664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.249664 # Seafloor depth:-1069.249664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1072.388403 meters looking forward 0.000000 meters along route # Maximum depth: 1072.388403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.388403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.822851; captureRadius = 10; duration = 135; initialDepth = 1021.655844; finalDepth = 1022.388403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.388403 # Seafloor depth:-1072.388403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1071.655844 meters looking forward 0.000000 meters along route # Maximum depth: 1071.655844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.655844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791463; longitude = -121.823519; captureRadius = 10; duration = 135; initialDepth = 1023.412986; finalDepth = 1021.655844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.655844 # Seafloor depth:-1071.655844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1073.412986 meters looking forward 0.000000 meters along route # Maximum depth: 1073.412986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.412986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.824181; captureRadius = 10; duration = 135; initialDepth = 1025.143183; finalDepth = 1023.412986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.412986 # Seafloor depth:-1073.412986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1075.143183 meters looking forward 0.000000 meters along route # Maximum depth: 1075.143183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.143183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789740; longitude = -121.824901; captureRadius = 10; duration = 135; initialDepth = 1029.207289; finalDepth = 1025.143183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.143183 # Seafloor depth:-1075.143183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.207289 meters looking forward 0.000000 meters along route # Maximum depth: 1079.207289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.207289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788978; longitude = -121.825512; captureRadius = 10; duration = 135; initialDepth = 1032.741976; finalDepth = 1029.207289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.207289 # Seafloor depth:-1079.207289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1082.741976 meters looking forward 0.000000 meters along route # Maximum depth: 1082.741976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.741976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.826177; captureRadius = 10; duration = 135; initialDepth = 1039.874307; finalDepth = 1032.741976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.741976 # Seafloor depth:-1082.741976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1089.874307 meters looking forward 0.000000 meters along route # Maximum depth: 1089.874307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.874307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.826842; captureRadius = 10; duration = 135; initialDepth = 1040.865977; finalDepth = 1039.874307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.874307 # Seafloor depth:-1089.874307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1090.865977 meters looking forward 0.000000 meters along route # Maximum depth: 1090.865977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.865977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.827507; captureRadius = 10; duration = 135; initialDepth = 1037.965248; finalDepth = 1040.865977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.865977 # Seafloor depth:-1090.865977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1087.965248 meters looking forward 0.000000 meters along route # Maximum depth: 1087.965248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.965248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785604; longitude = -121.828217; captureRadius = 10; duration = 135; initialDepth = 1032.894506; finalDepth = 1037.965248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.965248 # Seafloor depth:-1087.965248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1082.894506 meters looking forward 0.000000 meters along route # Maximum depth: 1082.894506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.894506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784832; longitude = -121.828837; captureRadius = 10; duration = 135; initialDepth = 1028.681452; finalDepth = 1032.894506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.894506 # Seafloor depth:-1082.894506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1078.681452 meters looking forward 0.000000 meters along route # Maximum depth: 1078.681452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.681452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.829502; captureRadius = 10; duration = 135; initialDepth = 1029.117930; finalDepth = 1028.681452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.681452 # Seafloor depth:-1078.681452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.117930 meters looking forward 0.000000 meters along route # Maximum depth: 1079.117930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.117930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.830167; captureRadius = 10; duration = 135; initialDepth = 1028.135333; finalDepth = 1029.117930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.11793 # Seafloor depth:-1079.117930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1078.135333 meters looking forward 0.000000 meters along route # Maximum depth: 1078.135333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.135333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.830833; captureRadius = 10; duration = 135; initialDepth = 1027.281339; finalDepth = 1028.135333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.135333 # Seafloor depth:-1078.135333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1077.281339 meters looking forward 0.000000 meters along route # Maximum depth: 1077.281339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.281339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781469; longitude = -121.831534; captureRadius = 10; duration = 135; initialDepth = 1034.308553; finalDepth = 1027.281339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.281339 # Seafloor depth:-1077.281339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1084.308553 meters looking forward 0.000000 meters along route # Maximum depth: 1084.308553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.308553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780686; longitude = -121.832163; captureRadius = 10; duration = 135; initialDepth = 1032.403607; finalDepth = 1034.308553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.308553 # Seafloor depth:-1084.308553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1082.403607 meters looking forward 0.000000 meters along route # Maximum depth: 1082.403607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.403607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.832828; captureRadius = 10; duration = 135; initialDepth = 1035.767131; finalDepth = 1032.403607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.403607 # Seafloor depth:-1082.403607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1085.767131 meters looking forward 0.000000 meters along route # Maximum depth: 1085.767131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.767131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.833493; captureRadius = 10; duration = 135; initialDepth = 1030.235948; finalDepth = 1035.767131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.767131 # Seafloor depth:-1085.767131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1080.235948 meters looking forward 0.000000 meters along route # Maximum depth: 1080.235948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.235948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.834158; captureRadius = 10; duration = 135; initialDepth = 1025.782089; finalDepth = 1030.235948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.235948 # Seafloor depth:-1080.235948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1075.782089 meters looking forward 0.000000 meters along route # Maximum depth: 1075.782089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.782089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777334; longitude = -121.834851; captureRadius = 10; duration = 135; initialDepth = 1026.731233; finalDepth = 1025.782089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.782089 # Seafloor depth:-1075.782089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1076.731233 meters looking forward 0.000000 meters along route # Maximum depth: 1076.731233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.731233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776540; longitude = -121.835488; captureRadius = 10; duration = 135; initialDepth = 1027.491634; finalDepth = 1026.731233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.731233 # Seafloor depth:-1076.731233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1077.491634 meters looking forward 0.000000 meters along route # Maximum depth: 1077.491634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.491634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.836153; captureRadius = 10; duration = 135; initialDepth = 1029.244070; finalDepth = 1027.491634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.491634 # Seafloor depth:-1077.491634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.244070 meters looking forward 0.000000 meters along route # Maximum depth: 1079.244070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.244070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.836819; captureRadius = 10; duration = 135; initialDepth = 1031.227663; finalDepth = 1029.244070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.24407 # Seafloor depth:-1079.244070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1081.227663 meters looking forward 0.000000 meters along route # Maximum depth: 1081.227663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.227663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.837484; captureRadius = 10; duration = 135; initialDepth = 1031.289602; finalDepth = 1031.227663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.227663 # Seafloor depth:-1081.227663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1081.289602 meters looking forward 0.000000 meters along route # Maximum depth: 1081.289602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.289602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773199; longitude = -121.838168; captureRadius = 10; duration = 135; initialDepth = 1026.930903; finalDepth = 1031.289602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.289602 # Seafloor depth:-1081.289602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1076.930903 meters looking forward 0.000000 meters along route # Maximum depth: 1076.930903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.930903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772394; longitude = -121.838814; captureRadius = 10; duration = 135; initialDepth = 1026.443031; finalDepth = 1026.930903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.930903 # Seafloor depth:-1076.930903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1076.443031 meters looking forward 0.000000 meters along route # Maximum depth: 1076.443031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.443031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.839479; captureRadius = 10; duration = 135; initialDepth = 1026.980494; finalDepth = 1026.443031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.443031 # Seafloor depth:-1076.443031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1076.980494 meters looking forward 0.000000 meters along route # Maximum depth: 1076.980494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.980494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.840144; captureRadius = 10; duration = 135; initialDepth = 1030.199755; finalDepth = 1026.980494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.980494 # Seafloor depth:-1076.980494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1080.199755 meters looking forward 0.000000 meters along route # Maximum depth: 1080.199755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.199755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.840809; captureRadius = 10; duration = 135; initialDepth = 1031.846332; finalDepth = 1030.199755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.199755 # Seafloor depth:-1080.199755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1081.846332 meters looking forward 0.000000 meters along route # Maximum depth: 1081.846332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.846332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769064; longitude = -121.841485; captureRadius = 10; duration = 135; initialDepth = 1029.321855; finalDepth = 1031.846332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.846332 # Seafloor depth:-1081.846332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.321855 meters looking forward 0.000000 meters along route # Maximum depth: 1079.321855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.321855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768247; longitude = -121.842140; captureRadius = 10; duration = 135; initialDepth = 1029.431618; finalDepth = 1029.321855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.321855 # Seafloor depth:-1079.321855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.431618 meters looking forward 0.000000 meters along route # Maximum depth: 1079.431618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.431618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.842805; captureRadius = 10; duration = 135; initialDepth = 1031.086973; finalDepth = 1029.431618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.431618 # Seafloor depth:-1079.431618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1081.086973 meters looking forward 0.000000 meters along route # Maximum depth: 1081.086973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.086973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766589; longitude = -121.843470; captureRadius = 10; duration = 135; initialDepth = 1031.600663; finalDepth = 1031.086973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.086973 # Seafloor depth:-1081.086973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1081.600663 meters looking forward 0.000000 meters along route # Maximum depth: 1081.600663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.600663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.844135; captureRadius = 10; duration = 135; initialDepth = 1030.415738; finalDepth = 1031.600663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.600663 # Seafloor depth:-1081.600663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1080.415738 meters looking forward 0.000000 meters along route # Maximum depth: 1080.415738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.415738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764929; longitude = -121.844802; captureRadius = 10; duration = 135; initialDepth = 1029.519115; finalDepth = 1030.415738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.415738 # Seafloor depth:-1080.415738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.519115 meters looking forward 0.000000 meters along route # Maximum depth: 1079.519115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.519115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.845465; captureRadius = 10; duration = 135; initialDepth = 1029.559997; finalDepth = 1029.519115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.519115 # Seafloor depth:-1079.519115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.559997 meters looking forward 0.000000 meters along route # Maximum depth: 1079.559997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.559997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763206; longitude = -121.846184; captureRadius = 10; duration = 135; initialDepth = 1026.930553; finalDepth = 1029.559997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.559997 # Seafloor depth:-1079.559997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1076.930553 meters looking forward 0.000000 meters along route # Maximum depth: 1076.930553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.930553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762443; longitude = -121.846795; captureRadius = 10; duration = 135; initialDepth = 1033.811569; finalDepth = 1026.930553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.930553 # Seafloor depth:-1076.930553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1083.811569 meters looking forward 0.000000 meters along route # Maximum depth: 1083.811569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.811569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.847460; captureRadius = 10; duration = 135; initialDepth = 1038.916523; finalDepth = 1033.811569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.811569 # Seafloor depth:-1083.811569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1088.916523 meters looking forward 0.000000 meters along route # Maximum depth: 1088.916523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.916523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.848126; captureRadius = 10; duration = 135; initialDepth = 1038.111037; finalDepth = 1038.916523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.916523 # Seafloor depth:-1088.916523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1088.111037 meters looking forward 0.000000 meters along route # Maximum depth: 1088.111037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.111037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.848791; captureRadius = 10; duration = 135; initialDepth = 1029.918101; finalDepth = 1038.111037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.111037 # Seafloor depth:-1088.111037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1079.918101 meters looking forward 0.000000 meters along route # Maximum depth: 1079.918101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.918101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759070; longitude = -121.849501; captureRadius = 10; duration = 135; initialDepth = 1033.780372; finalDepth = 1029.918101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.918101 # Seafloor depth:-1079.918101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1083.780372 meters looking forward 0.000000 meters along route # Maximum depth: 1083.780372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.780372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758297; longitude = -121.850121; captureRadius = 10; duration = 135; initialDepth = 1032.573940; finalDepth = 1033.780372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.780372 # Seafloor depth:-1083.780372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1082.573940 meters looking forward 0.000000 meters along route # Maximum depth: 1082.573940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.573940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.850786; captureRadius = 10; duration = 135; initialDepth = 1032.268140; finalDepth = 1032.573940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.57394 # Seafloor depth:-1082.573940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1082.268140 meters looking forward 0.000000 meters along route # Maximum depth: 1082.268140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.268140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.851451; captureRadius = 10; duration = 135; initialDepth = 1035.184854; finalDepth = 1032.268140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.26814 # Seafloor depth:-1082.268140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1085.184854 meters looking forward 0.000000 meters along route # Maximum depth: 1085.184854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.184854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.852116; captureRadius = 10; duration = 135; initialDepth = 1032.088348; finalDepth = 1035.184854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.184854 # Seafloor depth:-1085.184854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1082.088348 meters looking forward 0.000000 meters along route # Maximum depth: 1082.088348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.088348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754935; longitude = -121.852817; captureRadius = 10; duration = 135; initialDepth = 1033.765642; finalDepth = 1032.088348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.088348 # Seafloor depth:-1082.088348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1083.765642 meters looking forward 0.000000 meters along route # Maximum depth: 1083.765642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.765642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754151; longitude = -121.853447; captureRadius = 10; duration = 135; initialDepth = 1034.942784; finalDepth = 1033.765642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.765642 # Seafloor depth:-1083.765642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1084.942784 meters looking forward 0.000000 meters along route # Maximum depth: 1084.942784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.942784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.854112; captureRadius = 10; duration = 135; initialDepth = 1034.907177; finalDepth = 1034.942784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.942784 # Seafloor depth:-1084.942784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1084.907177 meters looking forward 0.000000 meters along route # Maximum depth: 1084.907177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.907177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.854777; captureRadius = 10; duration = 135; initialDepth = 1039.212793; finalDepth = 1034.907177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.907177 # Seafloor depth:-1084.907177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1089.212793 meters looking forward 0.000000 meters along route # Maximum depth: 1089.212793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.212793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.855442; captureRadius = 10; duration = 135; initialDepth = 1034.481972; finalDepth = 1039.212793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1039.212793 # Seafloor depth:-1089.212793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1084.481972 meters looking forward 0.000000 meters along route # Maximum depth: 1084.481972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.481972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750800; longitude = -121.856134; captureRadius = 10; duration = 135; initialDepth = 1036.372936; finalDepth = 1034.481972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.481972 # Seafloor depth:-1084.481972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1086.372936 meters looking forward 0.000000 meters along route # Maximum depth: 1086.372936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.372936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750005; longitude = -121.856772; captureRadius = 10; duration = 135; initialDepth = 1033.439115; finalDepth = 1036.372936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.372936 # Seafloor depth:-1086.372936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1083.439115 meters looking forward 0.000000 meters along route # Maximum depth: 1083.439115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.439115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.857437; captureRadius = 10; duration = 135; initialDepth = 1036.681733; finalDepth = 1033.439115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.439115 # Seafloor depth:-1083.439115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1086.681733 meters looking forward 0.000000 meters along route # Maximum depth: 1086.681733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.681733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.858102; captureRadius = 10; duration = 135; initialDepth = 1035.151492; finalDepth = 1036.681733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.681733 # Seafloor depth:-1086.681733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1085.151492 meters looking forward 0.000000 meters along route # Maximum depth: 1085.151492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.151492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.858767; captureRadius = 10; duration = 135; initialDepth = 1038.030388; finalDepth = 1035.151492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.151492 # Seafloor depth:-1085.151492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1088.030388 meters looking forward 0.000000 meters along route # Maximum depth: 1088.030388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.030388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746665; longitude = -121.859451; captureRadius = 10; duration = 135; initialDepth = 1037.778015; finalDepth = 1038.030388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.030388 # Seafloor depth:-1088.030388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1087.778015 meters looking forward 0.000000 meters along route # Maximum depth: 1087.778015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.778015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745859; longitude = -121.860098; captureRadius = 10; duration = 135; initialDepth = 1034.879068; finalDepth = 1037.778015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.778015 # Seafloor depth:-1087.778015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.922320 meters # Minimum depth: 1084.879068 meters looking forward 0.000000 meters along route # Maximum depth: 1084.879068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.879068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.860763; captureRadius = 10; duration = 135; initialDepth = 1030.838043; finalDepth = 1034.879068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.879068 # Seafloor depth:-1084.879068 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; 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 135.922320 meters # Minimum depth: 1080.838043 meters looking forward 0.000000 meters along route # Maximum depth: 1080.838043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.838043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744199; longitude = -121.861429; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1032.228239; finalDepth = 1030.838043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.838043 # Seafloor depth:-1080.838043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 135.922320 meters # Minimum depth: 1082.228239 meters looking forward 0.000000 meters along route # Maximum depth: 1082.228239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.228239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744029; longitude = -121.861109; captureRadius = 10; duration = 135; initialDepth = 1030.933197; finalDepth = 1032.228239; 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:1032.228239 # Seafloor depth:-1082.228239 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 135.922320 meters # Minimum depth: 1080.933197 meters looking forward 0.000000 meters along route # Maximum depth: 1080.933197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.933197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743459; longitude = -121.860040; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1031.103649; finalDepth = 1030.933197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.933197 # Seafloor depth:-1080.933197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1081.103649 meters looking forward 0.000000 meters along route # Maximum depth: 1081.103649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.103649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744200; longitude = -121.859445; captureRadius = 10; duration = 135; initialDepth = 1032.347188; finalDepth = 1031.103649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.103649 # Seafloor depth:-1081.103649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1082.347188 meters looking forward 0.000000 meters along route # Maximum depth: 1082.347188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.347188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745030; longitude = -121.858780; captureRadius = 10; duration = 135; initialDepth = 1031.044639; finalDepth = 1032.347188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.347188 # Seafloor depth:-1082.347188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1081.044639 meters looking forward 0.000000 meters along route # Maximum depth: 1081.044639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.044639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745916; longitude = -121.858069; captureRadius = 10; duration = 135; initialDepth = 1031.747983; finalDepth = 1031.044639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.044639 # Seafloor depth:-1081.044639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1081.747983 meters looking forward 0.000000 meters along route # Maximum depth: 1081.747983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.747983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746688; longitude = -121.857450; captureRadius = 10; duration = 135; initialDepth = 1028.858976; finalDepth = 1031.747983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.747983 # Seafloor depth:-1081.747983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1078.858976 meters looking forward 0.000000 meters along route # Maximum depth: 1078.858976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.858976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747517; longitude = -121.856785; captureRadius = 10; duration = 135; initialDepth = 1032.712663; finalDepth = 1028.858976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.858976 # Seafloor depth:-1078.858976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1082.712663 meters looking forward 0.000000 meters along route # Maximum depth: 1082.712663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.712663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748346; longitude = -121.856120; captureRadius = 10; duration = 135; initialDepth = 1037.938485; finalDepth = 1032.712663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.712663 # Seafloor depth:-1082.712663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1087.938485 meters looking forward 0.000000 meters along route # Maximum depth: 1087.938485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.938485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749176; longitude = -121.855455; captureRadius = 10; duration = 135; initialDepth = 1034.968833; finalDepth = 1037.938485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.938485 # Seafloor depth:-1087.938485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1084.968833 meters looking forward 0.000000 meters along route # Maximum depth: 1084.968833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.968833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750051; longitude = -121.854752; captureRadius = 10; duration = 135; initialDepth = 1032.600159; finalDepth = 1034.968833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.968833 # Seafloor depth:-1084.968833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1082.600159 meters looking forward 0.000000 meters along route # Maximum depth: 1082.600159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.600159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750834; longitude = -121.854124; captureRadius = 10; duration = 135; initialDepth = 1033.175399; finalDepth = 1032.600159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.600159 # Seafloor depth:-1082.600159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1083.175399 meters looking forward 0.000000 meters along route # Maximum depth: 1083.175399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.175399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751663; longitude = -121.853459; captureRadius = 10; duration = 135; initialDepth = 1029.132158; finalDepth = 1033.175399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.175399 # Seafloor depth:-1083.175399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1079.132158 meters looking forward 0.000000 meters along route # Maximum depth: 1079.132158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.132158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752492; longitude = -121.852794; captureRadius = 10; duration = 135; initialDepth = 1030.819027; finalDepth = 1029.132158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.132158 # Seafloor depth:-1079.132158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1080.819027 meters looking forward 0.000000 meters along route # Maximum depth: 1080.819027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.819027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753322; longitude = -121.852129; captureRadius = 10; duration = 135; initialDepth = 1030.766321; finalDepth = 1030.819027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.819027 # Seafloor depth:-1080.819027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1080.766321 meters looking forward 0.000000 meters along route # Maximum depth: 1080.766321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.766321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754187; longitude = -121.851435; captureRadius = 10; duration = 135; initialDepth = 1030.975155; finalDepth = 1030.766321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.766321 # Seafloor depth:-1080.766321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1080.975155 meters looking forward 0.000000 meters along route # Maximum depth: 1080.975155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.975155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754980; longitude = -121.850799; captureRadius = 10; duration = 135; initialDepth = 1027.128856; finalDepth = 1030.975155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.975155 # Seafloor depth:-1080.975155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1077.128856 meters looking forward 0.000000 meters along route # Maximum depth: 1077.128856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.128856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755809; longitude = -121.850134; captureRadius = 10; duration = 135; initialDepth = 1028.523475; finalDepth = 1027.128856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.128856 # Seafloor depth:-1077.128856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1078.523475 meters looking forward 0.000000 meters along route # Maximum depth: 1078.523475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.523475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756639; longitude = -121.849469; captureRadius = 10; duration = 135; initialDepth = 1030.722567; finalDepth = 1028.523475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.523475 # Seafloor depth:-1078.523475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1080.722567 meters looking forward 0.000000 meters along route # Maximum depth: 1080.722567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.722567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757468; longitude = -121.848803; captureRadius = 10; duration = 135; initialDepth = 1031.626808; finalDepth = 1030.722567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.722567 # Seafloor depth:-1080.722567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1081.626808 meters looking forward 0.000000 meters along route # Maximum depth: 1081.626808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.626808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758322; longitude = -121.848119; captureRadius = 10; duration = 135; initialDepth = 1031.601649; finalDepth = 1031.626808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.626808 # Seafloor depth:-1081.626808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1081.601649 meters looking forward 0.000000 meters along route # Maximum depth: 1081.601649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.601649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759126; longitude = -121.847473; captureRadius = 10; duration = 135; initialDepth = 1040.265962; finalDepth = 1031.601649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.601649 # Seafloor depth:-1081.601649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1090.265962 meters looking forward 0.000000 meters along route # Maximum depth: 1090.265962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.265962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759955; longitude = -121.846808; captureRadius = 10; duration = 135; initialDepth = 1029.547653; finalDepth = 1040.265962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.265962 # Seafloor depth:-1090.265962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1079.547653 meters looking forward 0.000000 meters along route # Maximum depth: 1079.547653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.547653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760785; longitude = -121.846143; captureRadius = 10; duration = 135; initialDepth = 1027.169536; finalDepth = 1029.547653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.547653 # Seafloor depth:-1079.547653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1077.169536 meters looking forward 0.000000 meters along route # Maximum depth: 1077.169536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.169536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761614; longitude = -121.845478; captureRadius = 10; duration = 135; initialDepth = 1024.345366; finalDepth = 1027.169536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.169536 # Seafloor depth:-1077.169536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1074.345366 meters looking forward 0.000000 meters along route # Maximum depth: 1074.345366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.345366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762457; longitude = -121.844802; captureRadius = 10; duration = 135; initialDepth = 1025.315663; finalDepth = 1024.345366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.345366 # Seafloor depth:-1074.345366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.315663 meters looking forward 0.000000 meters along route # Maximum depth: 1075.315663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.315663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763272; longitude = -121.844148; captureRadius = 10; duration = 135; initialDepth = 1026.097007; finalDepth = 1025.315663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.315663 # Seafloor depth:-1075.315663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1076.097007 meters looking forward 0.000000 meters along route # Maximum depth: 1076.097007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.097007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764101; longitude = -121.843483; captureRadius = 10; duration = 135; initialDepth = 1028.604591; finalDepth = 1026.097007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.097007 # Seafloor depth:-1076.097007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1078.604591 meters looking forward 0.000000 meters along route # Maximum depth: 1078.604591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.604591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764931; longitude = -121.842817; captureRadius = 10; duration = 135; initialDepth = 1026.545266; finalDepth = 1028.604591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.604591 # Seafloor depth:-1078.604591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1076.545266 meters looking forward 0.000000 meters along route # Maximum depth: 1076.545266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.545266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765760; longitude = -121.842152; captureRadius = 10; duration = 135; initialDepth = 1025.014528; finalDepth = 1026.545266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.545266 # Seafloor depth:-1076.545266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.014528 meters looking forward 0.000000 meters along route # Maximum depth: 1075.014528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.014528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766592; longitude = -121.841485; captureRadius = 10; duration = 135; initialDepth = 1029.943285; finalDepth = 1025.014528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.014528 # Seafloor depth:-1075.014528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1079.943285 meters looking forward 0.000000 meters along route # Maximum depth: 1079.943285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.943285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767418; longitude = -121.840822; captureRadius = 10; duration = 135; initialDepth = 1025.748967; finalDepth = 1029.943285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.943285 # Seafloor depth:-1079.943285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.748967 meters looking forward 0.000000 meters along route # Maximum depth: 1075.748967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.748967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768315; longitude = -121.840103; captureRadius = 10; duration = 135; initialDepth = 1031.517212; finalDepth = 1025.748967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.748967 # Seafloor depth:-1075.748967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1081.517212 meters looking forward 0.000000 meters along route # Maximum depth: 1081.517212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.517212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769077; longitude = -121.839492; captureRadius = 10; duration = 135; initialDepth = 1028.412927; finalDepth = 1031.517212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.517212 # Seafloor depth:-1081.517212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1078.412927 meters looking forward 0.000000 meters along route # Maximum depth: 1078.412927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.412927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769906; longitude = -121.838827; captureRadius = 10; duration = 135; initialDepth = 1025.849247; finalDepth = 1028.412927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.412927 # Seafloor depth:-1078.412927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.849247 meters looking forward 0.000000 meters along route # Maximum depth: 1075.849247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.849247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770735; longitude = -121.838162; captureRadius = 10; duration = 135; initialDepth = 1024.313043; finalDepth = 1025.849247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.849247 # Seafloor depth:-1075.849247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1074.313043 meters looking forward 0.000000 meters along route # Maximum depth: 1074.313043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.313043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771564; longitude = -121.837497; captureRadius = 10; duration = 135; initialDepth = 1028.491143; finalDepth = 1024.313043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.313043 # Seafloor depth:-1074.313043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1078.491143 meters looking forward 0.000000 meters along route # Maximum depth: 1078.491143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.491143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772450; longitude = -121.836786; captureRadius = 10; duration = 135; initialDepth = 1029.931021; finalDepth = 1028.491143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.491143 # Seafloor depth:-1078.491143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1079.931021 meters looking forward 0.000000 meters along route # Maximum depth: 1079.931021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.931021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773223; longitude = -121.836166; captureRadius = 10; duration = 135; initialDepth = 1025.572706; finalDepth = 1029.931021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.931021 # Seafloor depth:-1079.931021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.572706 meters looking forward 0.000000 meters along route # Maximum depth: 1075.572706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.572706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774052; longitude = -121.835501; captureRadius = 10; duration = 135; initialDepth = 1023.132485; finalDepth = 1025.572706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.572706 # Seafloor depth:-1075.572706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1073.132485 meters looking forward 0.000000 meters along route # Maximum depth: 1073.132485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.132485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774881; longitude = -121.834836; captureRadius = 10; duration = 135; initialDepth = 1024.865482; finalDepth = 1023.132485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.132485 # Seafloor depth:-1073.132485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1074.865482 meters looking forward 0.000000 meters along route # Maximum depth: 1074.865482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.865482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775710; longitude = -121.834171; captureRadius = 10; duration = 135; initialDepth = 1025.777414; finalDepth = 1024.865482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.865482 # Seafloor depth:-1074.865482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.777414 meters looking forward 0.000000 meters along route # Maximum depth: 1075.777414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.777414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776585; longitude = -121.833469; captureRadius = 10; duration = 135; initialDepth = 1025.683232; finalDepth = 1025.777414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.777414 # Seafloor depth:-1075.777414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.683232 meters looking forward 0.000000 meters along route # Maximum depth: 1075.683232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.683232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777369; longitude = -121.832841; captureRadius = 10; duration = 135; initialDepth = 1028.402061; finalDepth = 1025.683232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.683232 # Seafloor depth:-1075.683232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1078.402061 meters looking forward 0.000000 meters along route # Maximum depth: 1078.402061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.402061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778198; longitude = -121.832176; captureRadius = 10; duration = 135; initialDepth = 1032.416135; finalDepth = 1028.402061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.402061 # Seafloor depth:-1078.402061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1082.416135 meters looking forward 0.000000 meters along route # Maximum depth: 1082.416135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.416135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779027; longitude = -121.831510; captureRadius = 10; duration = 135; initialDepth = 1032.672770; finalDepth = 1032.416135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.416135 # Seafloor depth:-1082.416135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1082.672770 meters looking forward 0.000000 meters along route # Maximum depth: 1082.672770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.672770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779856; longitude = -121.830845; captureRadius = 10; duration = 135; initialDepth = 1024.124137; finalDepth = 1032.672770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.67277 # Seafloor depth:-1082.672770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1074.124137 meters looking forward 0.000000 meters along route # Maximum depth: 1074.124137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.124137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780721; longitude = -121.830152; captureRadius = 10; duration = 135; initialDepth = 1025.409394; finalDepth = 1024.124137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.124137 # Seafloor depth:-1074.124137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.409394 meters looking forward 0.000000 meters along route # Maximum depth: 1075.409394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.409394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781515; longitude = -121.829515; captureRadius = 10; duration = 135; initialDepth = 1025.015592; finalDepth = 1025.409394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.409394 # Seafloor depth:-1075.409394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.015592 meters looking forward 0.000000 meters along route # Maximum depth: 1075.015592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.015592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782344; longitude = -121.828850; captureRadius = 10; duration = 135; initialDepth = 1025.139119; finalDepth = 1025.015592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.015592 # Seafloor depth:-1075.015592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1075.139119 meters looking forward 0.000000 meters along route # Maximum depth: 1075.139119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.139119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783173; longitude = -121.828185; captureRadius = 10; duration = 135; initialDepth = 1030.795283; finalDepth = 1025.139119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.139119 # Seafloor depth:-1075.139119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1080.795283 meters looking forward 0.000000 meters along route # Maximum depth: 1080.795283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.795283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784003; longitude = -121.827520; captureRadius = 10; duration = 135; initialDepth = 1038.950936; finalDepth = 1030.795283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.795283 # Seafloor depth:-1080.795283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1088.950936 meters looking forward 0.000000 meters along route # Maximum depth: 1088.950936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.950936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784856; longitude = -121.826835; captureRadius = 10; duration = 135; initialDepth = 1041.295546; finalDepth = 1038.950936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.950936 # Seafloor depth:-1088.950936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1091.295546 meters looking forward 0.000000 meters along route # Maximum depth: 1091.295546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.295546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785661; longitude = -121.826190; captureRadius = 10; duration = 135; initialDepth = 1040.325296; finalDepth = 1041.295546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1041.295546 # Seafloor depth:-1091.295546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1090.325296 meters looking forward 0.000000 meters along route # Maximum depth: 1090.325296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.325296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786490; longitude = -121.825524; captureRadius = 10; duration = 135; initialDepth = 1034.823383; finalDepth = 1040.325296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.325296 # Seafloor depth:-1090.325296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1084.823383 meters looking forward 0.000000 meters along route # Maximum depth: 1084.823383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.823383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787319; longitude = -121.824859; captureRadius = 10; duration = 135; initialDepth = 1027.196293; finalDepth = 1034.823383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1034.823383 # Seafloor depth:-1084.823383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1077.196293 meters looking forward 0.000000 meters along route # Maximum depth: 1077.196293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.196293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788149; longitude = -121.824194; captureRadius = 10; duration = 135; initialDepth = 1023.751054; finalDepth = 1027.196293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.196293 # Seafloor depth:-1077.196293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1073.751054 meters looking forward 0.000000 meters along route # Maximum depth: 1073.751054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.751054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788991; longitude = -121.823519; captureRadius = 10; duration = 135; initialDepth = 1020.482641; finalDepth = 1023.751054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.751054 # Seafloor depth:-1073.751054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1070.482641 meters looking forward 0.000000 meters along route # Maximum depth: 1070.482641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.482641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789807; longitude = -121.822864; captureRadius = 10; duration = 135; initialDepth = 1021.234964; finalDepth = 1020.482641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.482641 # Seafloor depth:-1070.482641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1071.234964 meters looking forward 0.000000 meters along route # Maximum depth: 1071.234964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.234964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790636; longitude = -121.822199; captureRadius = 10; duration = 135; initialDepth = 1020.316107; finalDepth = 1021.234964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.234964 # Seafloor depth:-1071.234964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1070.316107 meters looking forward 0.000000 meters along route # Maximum depth: 1070.316107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.316107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791465; longitude = -121.821534; captureRadius = 10; duration = 135; initialDepth = 1023.165990; finalDepth = 1020.316107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.316107 # Seafloor depth:-1070.316107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1073.165990 meters looking forward 0.000000 meters along route # Maximum depth: 1073.165990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.165990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792295; longitude = -121.820869; captureRadius = 10; duration = 135; initialDepth = 1015.885644; finalDepth = 1023.165990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.16599 # Seafloor depth:-1073.165990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1065.885644 meters looking forward 0.000000 meters along route # Maximum depth: 1065.885644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.885644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793126; longitude = -121.820202; captureRadius = 10; duration = 135; initialDepth = 1012.021239; finalDepth = 1015.885644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.885644 # Seafloor depth:-1065.885644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1062.021239 meters looking forward 0.000000 meters along route # Maximum depth: 1062.021239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.021239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793953; longitude = -121.819538; captureRadius = 10; duration = 135; initialDepth = 1009.663648; finalDepth = 1012.021239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.021239 # Seafloor depth:-1062.021239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1059.663648 meters looking forward 0.000000 meters along route # Maximum depth: 1059.663648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.663648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794849; longitude = -121.818820; captureRadius = 10; duration = 135; initialDepth = 1010.956156; finalDepth = 1009.663648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.663648 # Seafloor depth:-1059.663648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 135.922320 meters # Minimum depth: 1060.956156 meters looking forward 0.000000 meters along route # Maximum depth: 1060.956156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.956156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795611; longitude = -121.818208; captureRadius = 10; duration = 135; initialDepth = 1008.640900; finalDepth = 1010.956156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1010.956156 # Seafloor depth:-1060.956156 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; 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 135.922320 meters # Minimum depth: 1058.640900 meters looking forward 0.000000 meters along route # Maximum depth: 1058.640900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.640900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796528; longitude = -121.817473; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1009.401329; finalDepth = 1008.640900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.6409 # Seafloor depth:-1058.640900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 135.922320 meters # Minimum depth: 1059.401329 meters looking forward 0.000000 meters along route # Maximum depth: 1059.401329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.401329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.796362; longitude = -121.817161; captureRadius = 10; duration = 135; initialDepth = 1009.922546; finalDepth = 1009.401329; 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:1009.401329 # Seafloor depth:-1059.401329 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 135.922320 meters # Minimum depth: 1059.922546 meters looking forward 0.000000 meters along route # Maximum depth: 1059.922546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.922546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795788; longitude = -121.816084; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1013.012818; finalDepth = 1009.922546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.922546 # Seafloor depth:-1059.922546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1063.012818 meters looking forward 0.000000 meters along route # Maximum depth: 1063.012818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.012818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795059; longitude = -121.816669; captureRadius = 10; duration = 135; initialDepth = 1016.753199; finalDepth = 1013.012818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.012818 # Seafloor depth:-1063.012818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1066.753199 meters looking forward 0.000000 meters along route # Maximum depth: 1066.753199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.753199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.817334; captureRadius = 10; duration = 135; initialDepth = 1013.479883; finalDepth = 1016.753199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.753199 # Seafloor depth:-1066.753199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1063.479883 meters looking forward 0.000000 meters along route # Maximum depth: 1063.479883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.479883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.817999; captureRadius = 10; duration = 135; initialDepth = 1013.391526; finalDepth = 1013.479883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.479883 # Seafloor depth:-1063.479883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1063.391526 meters looking forward 0.000000 meters along route # Maximum depth: 1063.391526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.391526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.818664; captureRadius = 10; duration = 135; initialDepth = 1015.974636; finalDepth = 1013.391526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.391526 # Seafloor depth:-1063.391526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1065.974636 meters looking forward 0.000000 meters along route # Maximum depth: 1065.974636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.974636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791688; longitude = -121.819373; captureRadius = 10; duration = 135; initialDepth = 1019.070280; finalDepth = 1015.974636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.974636 # Seafloor depth:-1065.974636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1069.070280 meters looking forward 0.000000 meters along route # Maximum depth: 1069.070280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.070280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790913; longitude = -121.819995; captureRadius = 10; duration = 135; initialDepth = 1019.820149; finalDepth = 1019.070280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.07028 # Seafloor depth:-1069.070280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1069.820149 meters looking forward 0.000000 meters along route # Maximum depth: 1069.820149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.820149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.820660; captureRadius = 10; duration = 135; initialDepth = 1020.135524; finalDepth = 1019.820149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.820149 # Seafloor depth:-1069.820149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1070.135524 meters looking forward 0.000000 meters along route # Maximum depth: 1070.135524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.135524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.821325; captureRadius = 10; duration = 135; initialDepth = 1021.679597; finalDepth = 1020.135524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.135524 # Seafloor depth:-1070.135524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1071.679597 meters looking forward 0.000000 meters along route # Maximum depth: 1071.679597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.679597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.821990; captureRadius = 10; duration = 135; initialDepth = 1024.487945; finalDepth = 1021.679597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.679597 # Seafloor depth:-1071.679597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.487945 meters looking forward 0.000000 meters along route # Maximum depth: 1074.487945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.487945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787553; longitude = -121.822689; captureRadius = 10; duration = 135; initialDepth = 1028.930234; finalDepth = 1024.487945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.487945 # Seafloor depth:-1074.487945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1078.930234 meters looking forward 0.000000 meters along route # Maximum depth: 1078.930234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.930234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786767; longitude = -121.823320; captureRadius = 10; duration = 135; initialDepth = 1038.403570; finalDepth = 1028.930234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.930234 # Seafloor depth:-1078.930234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1088.403570 meters looking forward 0.000000 meters along route # Maximum depth: 1088.403570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.403570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.823985; captureRadius = 10; duration = 135; initialDepth = 1040.225021; finalDepth = 1038.403570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1038.40357 # Seafloor depth:-1088.403570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1090.225021 meters looking forward 0.000000 meters along route # Maximum depth: 1090.225021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.225021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.824651; captureRadius = 10; duration = 135; initialDepth = 1033.969122; finalDepth = 1040.225021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1040.225021 # Seafloor depth:-1090.225021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1083.969122 meters looking forward 0.000000 meters along route # Maximum depth: 1083.969122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.969122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.825316; captureRadius = 10; duration = 135; initialDepth = 1027.055744; finalDepth = 1033.969122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.969122 # Seafloor depth:-1083.969122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1077.055744 meters looking forward 0.000000 meters along route # Maximum depth: 1077.055744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.055744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783418; longitude = -121.826006; captureRadius = 10; duration = 135; initialDepth = 1024.664498; finalDepth = 1027.055744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.055744 # Seafloor depth:-1077.055744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.664498 meters looking forward 0.000000 meters along route # Maximum depth: 1074.664498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.664498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782620; longitude = -121.826646; captureRadius = 10; duration = 135; initialDepth = 1023.480148; finalDepth = 1024.664498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.664498 # Seafloor depth:-1074.664498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1073.480148 meters looking forward 0.000000 meters along route # Maximum depth: 1073.480148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.480148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.827311; captureRadius = 10; duration = 135; initialDepth = 1022.208661; finalDepth = 1023.480148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.480148 # Seafloor depth:-1073.480148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1072.208661 meters looking forward 0.000000 meters along route # Maximum depth: 1072.208661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.208661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.827976; captureRadius = 10; duration = 135; initialDepth = 1020.793760; finalDepth = 1022.208661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.208661 # Seafloor depth:-1072.208661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1070.793760 meters looking forward 0.000000 meters along route # Maximum depth: 1070.793760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.793760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.828641; captureRadius = 10; duration = 135; initialDepth = 1026.744366; finalDepth = 1020.793760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.79376 # Seafloor depth:-1070.793760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1076.744366 meters looking forward 0.000000 meters along route # Maximum depth: 1076.744366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.744366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779283; longitude = -121.829323; captureRadius = 10; duration = 135; initialDepth = 1030.249806; finalDepth = 1026.744366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.744366 # Seafloor depth:-1076.744366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1080.249806 meters looking forward 0.000000 meters along route # Maximum depth: 1080.249806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.249806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778474; longitude = -121.829972; captureRadius = 10; duration = 135; initialDepth = 1027.466397; finalDepth = 1030.249806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.249806 # Seafloor depth:-1080.249806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1077.466397 meters looking forward 0.000000 meters along route # Maximum depth: 1077.466397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.466397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.830637; captureRadius = 10; duration = 135; initialDepth = 1021.768999; finalDepth = 1027.466397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.466397 # Seafloor depth:-1077.466397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1071.768999 meters looking forward 0.000000 meters along route # Maximum depth: 1071.768999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.768999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.831302; captureRadius = 10; duration = 135; initialDepth = 1024.741151; finalDepth = 1021.768999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.768999 # Seafloor depth:-1071.768999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.741151 meters looking forward 0.000000 meters along route # Maximum depth: 1074.741151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.741151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.831967; captureRadius = 10; duration = 135; initialDepth = 1023.428207; finalDepth = 1024.741151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.741151 # Seafloor depth:-1074.741151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1073.428207 meters looking forward 0.000000 meters along route # Maximum depth: 1073.428207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.428207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775148; longitude = -121.832640; captureRadius = 10; duration = 135; initialDepth = 1021.054883; finalDepth = 1023.428207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.428207 # Seafloor depth:-1073.428207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1071.054883 meters looking forward 0.000000 meters along route # Maximum depth: 1071.054883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.054883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774328; longitude = -121.833297; captureRadius = 10; duration = 135; initialDepth = 1024.404814; finalDepth = 1021.054883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.054883 # Seafloor depth:-1071.054883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.404814 meters looking forward 0.000000 meters along route # Maximum depth: 1074.404814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.404814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773425; longitude = -121.834022; captureRadius = 10; duration = 135; initialDepth = 1025.174608; finalDepth = 1024.404814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.404814 # Seafloor depth:-1074.404814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1075.174608 meters looking forward 0.000000 meters along route # Maximum depth: 1075.174608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.174608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772670; longitude = -121.834627; captureRadius = 10; duration = 135; initialDepth = 1029.428994; finalDepth = 1025.174608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.174608 # Seafloor depth:-1075.174608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1079.428994 meters looking forward 0.000000 meters along route # Maximum depth: 1079.428994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.428994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.835293; captureRadius = 10; duration = 135; initialDepth = 1027.164762; finalDepth = 1029.428994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.428994 # Seafloor depth:-1079.428994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1077.164762 meters looking forward 0.000000 meters along route # Maximum depth: 1077.164762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.164762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.835958; captureRadius = 10; duration = 135; initialDepth = 1022.158606; finalDepth = 1027.164762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.164762 # Seafloor depth:-1077.164762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1072.158606 meters looking forward 0.000000 meters along route # Maximum depth: 1072.158606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.158606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.836623; captureRadius = 10; duration = 135; initialDepth = 1023.503975; finalDepth = 1022.158606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.158606 # Seafloor depth:-1072.158606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1073.503975 meters looking forward 0.000000 meters along route # Maximum depth: 1073.503975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.503975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769290; longitude = -121.837339; captureRadius = 10; duration = 135; initialDepth = 1023.654987; finalDepth = 1023.503975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.503975 # Seafloor depth:-1073.503975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1073.654987 meters looking forward 0.000000 meters along route # Maximum depth: 1073.654987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.654987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768524; longitude = -121.837953; captureRadius = 10; duration = 135; initialDepth = 1024.751389; finalDepth = 1023.654987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.654987 # Seafloor depth:-1073.654987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.751389 meters looking forward 0.000000 meters along route # Maximum depth: 1074.751389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.751389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.838618; captureRadius = 10; duration = 135; initialDepth = 1023.693910; finalDepth = 1024.751389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.751389 # Seafloor depth:-1074.751389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1073.693910 meters looking forward 0.000000 meters along route # Maximum depth: 1073.693910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.693910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.839283; captureRadius = 10; duration = 135; initialDepth = 1024.533281; finalDepth = 1023.693910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.69391 # Seafloor depth:-1073.693910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.533281 meters looking forward 0.000000 meters along route # Maximum depth: 1074.533281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.533281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.839949; captureRadius = 10; duration = 135; initialDepth = 1023.323221; finalDepth = 1024.533281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.533281 # Seafloor depth:-1074.533281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1073.323221 meters looking forward 0.000000 meters along route # Maximum depth: 1073.323221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.323221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765155; longitude = -121.840656; captureRadius = 10; duration = 135; initialDepth = 1023.679546; finalDepth = 1023.323221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.323221 # Seafloor depth:-1073.323221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1073.679546 meters looking forward 0.000000 meters along route # Maximum depth: 1073.679546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.679546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764378; longitude = -121.841279; captureRadius = 10; duration = 135; initialDepth = 1024.702398; finalDepth = 1023.679546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.679546 # Seafloor depth:-1073.679546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.702398 meters looking forward 0.000000 meters along route # Maximum depth: 1074.702398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.702398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.841944; captureRadius = 10; duration = 135; initialDepth = 1024.030432; finalDepth = 1024.702398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.702398 # Seafloor depth:-1074.702398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1074.030432 meters looking forward 0.000000 meters along route # Maximum depth: 1074.030432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.030432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.842609; captureRadius = 10; duration = 135; initialDepth = 1022.722568; finalDepth = 1024.030432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.030432 # Seafloor depth:-1074.030432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1072.722568 meters looking forward 0.000000 meters along route # Maximum depth: 1072.722568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.722568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.843274; captureRadius = 10; duration = 135; initialDepth = 1025.125097; finalDepth = 1022.722568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.722568 # Seafloor depth:-1072.722568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1075.125097 meters looking forward 0.000000 meters along route # Maximum depth: 1075.125097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.125097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761020; longitude = -121.843972; captureRadius = 10; duration = 135; initialDepth = 1027.099707; finalDepth = 1025.125097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.125097 # Seafloor depth:-1075.125097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1077.099707 meters looking forward 0.000000 meters along route # Maximum depth: 1077.099707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.099707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760232; longitude = -121.844604; captureRadius = 10; duration = 135; initialDepth = 1032.738045; finalDepth = 1027.099707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.099707 # Seafloor depth:-1077.099707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1082.738045 meters looking forward 0.000000 meters along route # Maximum depth: 1082.738045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.738045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.845270; captureRadius = 10; duration = 135; initialDepth = 1033.741302; finalDepth = 1032.738045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.738045 # Seafloor depth:-1082.738045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1083.741302 meters looking forward 0.000000 meters along route # Maximum depth: 1083.741302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.741302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.845935; captureRadius = 10; duration = 135; initialDepth = 1027.663087; finalDepth = 1033.741302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.741302 # Seafloor depth:-1083.741302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1077.663087 meters looking forward 0.000000 meters along route # Maximum depth: 1077.663087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.663087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.846600; captureRadius = 10; duration = 135; initialDepth = 1025.358974; finalDepth = 1027.663087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.663087 # Seafloor depth:-1077.663087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1075.358974 meters looking forward 0.000000 meters along route # Maximum depth: 1075.358974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.358974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756885; longitude = -121.847289; captureRadius = 10; duration = 135; initialDepth = 1026.567940; finalDepth = 1025.358974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.358974 # Seafloor depth:-1075.358974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1076.567940 meters looking forward 0.000000 meters along route # Maximum depth: 1076.567940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.567940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756086; longitude = -121.847930; captureRadius = 10; duration = 135; initialDepth = 1027.138132; finalDepth = 1026.567940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.56794 # Seafloor depth:-1076.567940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1077.138132 meters looking forward 0.000000 meters along route # Maximum depth: 1077.138132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.138132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.848595; captureRadius = 10; duration = 135; initialDepth = 1027.153791; finalDepth = 1027.138132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.138132 # Seafloor depth:-1077.138132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1077.153791 meters looking forward 0.000000 meters along route # Maximum depth: 1077.153791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.153791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.849260; captureRadius = 10; duration = 135; initialDepth = 1030.246031; finalDepth = 1027.153791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.153791 # Seafloor depth:-1077.153791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1080.246031 meters looking forward 0.000000 meters along route # Maximum depth: 1080.246031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.246031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.849925; captureRadius = 10; duration = 135; initialDepth = 1035.372417; finalDepth = 1030.246031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.246031 # Seafloor depth:-1080.246031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1085.372417 meters looking forward 0.000000 meters along route # Maximum depth: 1085.372417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.372417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752749; longitude = -121.850606; captureRadius = 10; duration = 135; initialDepth = 1030.078186; finalDepth = 1035.372417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1035.372417 # Seafloor depth:-1085.372417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1080.078186 meters looking forward 0.000000 meters along route # Maximum depth: 1080.078186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.078186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751940; longitude = -121.851256; captureRadius = 10; duration = 135; initialDepth = 1028.640867; finalDepth = 1030.078186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.078186 # Seafloor depth:-1080.078186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1078.640867 meters looking forward 0.000000 meters along route # Maximum depth: 1078.640867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.640867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.851921; captureRadius = 10; duration = 135; initialDepth = 1030.301228; finalDepth = 1028.640867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.640867 # Seafloor depth:-1078.640867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1080.301228 meters looking forward 0.000000 meters along route # Maximum depth: 1080.301228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.301228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.852586; captureRadius = 10; duration = 135; initialDepth = 1033.049385; finalDepth = 1030.301228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.301228 # Seafloor depth:-1080.301228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1083.049385 meters looking forward 0.000000 meters along route # Maximum depth: 1083.049385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.049385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.853251; captureRadius = 10; duration = 135; initialDepth = 1029.288430; finalDepth = 1033.049385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1033.049385 # Seafloor depth:-1083.049385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1079.288430 meters looking forward 0.000000 meters along route # Maximum depth: 1079.288430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.288430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748614; longitude = -121.853923; captureRadius = 10; duration = 135; initialDepth = 1028.822770; finalDepth = 1029.288430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1029.28843 # Seafloor depth:-1079.288430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1078.822770 meters looking forward 0.000000 meters along route # Maximum depth: 1078.822770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.822770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747794; longitude = -121.854581; captureRadius = 10; duration = 135; initialDepth = 1025.567273; finalDepth = 1028.822770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.82277 # Seafloor depth:-1078.822770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1075.567273 meters looking forward 0.000000 meters along route # Maximum depth: 1075.567273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.567273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746891; longitude = -121.855305; captureRadius = 10; duration = 135; initialDepth = 1026.132494; finalDepth = 1025.567273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.567273 # Seafloor depth:-1075.567273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1076.132494 meters looking forward 0.000000 meters along route # Maximum depth: 1076.132494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.132494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746135; longitude = -121.855912; captureRadius = 10; duration = 135; initialDepth = 1025.258207; finalDepth = 1026.132494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.132494 # Seafloor depth:-1076.132494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1075.258207 meters looking forward 0.000000 meters along route # Maximum depth: 1075.258207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.258207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.856577; captureRadius = 10; duration = 135; initialDepth = 1032.697997; finalDepth = 1025.258207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.258207 # Seafloor depth:-1075.258207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1082.697997 meters looking forward 0.000000 meters along route # Maximum depth: 1082.697997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.697997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.857242; captureRadius = 10; duration = 135; initialDepth = 1030.925804; finalDepth = 1032.697997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.697997 # Seafloor depth:-1082.697997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.922320 meters # Minimum depth: 1080.925804 meters looking forward 0.000000 meters along route # Maximum depth: 1080.925804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.925804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.857907; captureRadius = 10; duration = 135; initialDepth = 1026.959961; finalDepth = 1030.925804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.925804 # Seafloor depth:-1080.925804 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; 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 135.922320 meters # Minimum depth: 1076.959961 meters looking forward 0.000000 meters along route # Maximum depth: 1076.959961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.959961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742720; longitude = -121.858651; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1027.669114; finalDepth = 1026.959961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.959961 # Seafloor depth:-1076.959961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 135.922320 meters # Minimum depth: 1077.669114 meters looking forward 0.000000 meters along route # Maximum depth: 1077.669114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.669114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742542; longitude = -121.858317; captureRadius = 10; duration = 135; initialDepth = 1023.785736; finalDepth = 1027.669114; 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:1027.669114 # Seafloor depth:-1077.669114 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 135.922320 meters # Minimum depth: 1073.785736 meters looking forward 0.000000 meters along route # Maximum depth: 1073.785736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.785736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741980; longitude = -121.857263; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1024.300409; finalDepth = 1023.785736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.785736 # Seafloor depth:-1073.785736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1074.300409 meters looking forward 0.000000 meters along route # Maximum depth: 1074.300409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.300409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742009; longitude = -121.857240; captureRadius = 10; duration = 135; initialDepth = 1024.938339; finalDepth = 1024.300409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.300409 # Seafloor depth:-1074.300409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1074.938339 meters looking forward 0.000000 meters along route # Maximum depth: 1074.938339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.938339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742818; longitude = -121.856591; captureRadius = 10; duration = 135; initialDepth = 1025.201090; finalDepth = 1024.938339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.938339 # Seafloor depth:-1074.938339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.201090 meters looking forward 0.000000 meters along route # Maximum depth: 1075.201090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.201090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743648; longitude = -121.855925; captureRadius = 10; duration = 135; initialDepth = 1024.466160; finalDepth = 1025.201090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.20109 # Seafloor depth:-1075.201090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1074.466160 meters looking forward 0.000000 meters along route # Maximum depth: 1074.466160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.466160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744477; longitude = -121.855260; captureRadius = 10; duration = 135; initialDepth = 1030.266228; finalDepth = 1024.466160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.46616 # Seafloor depth:-1074.466160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1080.266228 meters looking forward 0.000000 meters along route # Maximum depth: 1080.266228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.266228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745306; longitude = -121.854595; captureRadius = 10; duration = 135; initialDepth = 1028.811703; finalDepth = 1030.266228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.266228 # Seafloor depth:-1080.266228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1078.811703 meters looking forward 0.000000 meters along route # Maximum depth: 1078.811703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.811703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746144; longitude = -121.853923; captureRadius = 10; duration = 135; initialDepth = 1023.761650; finalDepth = 1028.811703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.811703 # Seafloor depth:-1078.811703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1073.761650 meters looking forward 0.000000 meters along route # Maximum depth: 1073.761650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.761650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746964; longitude = -121.853265; captureRadius = 10; duration = 135; initialDepth = 1025.913742; finalDepth = 1023.761650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.76165 # Seafloor depth:-1073.761650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.913742 meters looking forward 0.000000 meters along route # Maximum depth: 1075.913742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.913742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747867; longitude = -121.852541; captureRadius = 10; duration = 135; initialDepth = 1025.741255; finalDepth = 1025.913742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.913742 # Seafloor depth:-1075.913742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.741255 meters looking forward 0.000000 meters along route # Maximum depth: 1075.741255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.741255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748623; longitude = -121.851935; captureRadius = 10; duration = 135; initialDepth = 1025.188336; finalDepth = 1025.741255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.741255 # Seafloor depth:-1075.741255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.188336 meters looking forward 0.000000 meters along route # Maximum depth: 1075.188336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.188336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749452; longitude = -121.851269; captureRadius = 10; duration = 135; initialDepth = 1025.312631; finalDepth = 1025.188336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.188336 # Seafloor depth:-1075.188336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.312631 meters looking forward 0.000000 meters along route # Maximum depth: 1075.312631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.312631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750281; longitude = -121.850604; captureRadius = 10; duration = 135; initialDepth = 1027.858535; finalDepth = 1025.312631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.312631 # Seafloor depth:-1075.312631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1077.858535 meters looking forward 0.000000 meters along route # Maximum depth: 1077.858535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.858535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751110; longitude = -121.849939; captureRadius = 10; duration = 135; initialDepth = 1025.351913; finalDepth = 1027.858535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.858535 # Seafloor depth:-1077.858535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.351913 meters looking forward 0.000000 meters along route # Maximum depth: 1075.351913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.351913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752002; longitude = -121.849224; captureRadius = 10; duration = 135; initialDepth = 1027.318706; finalDepth = 1025.351913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.351913 # Seafloor depth:-1075.351913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1077.318706 meters looking forward 0.000000 meters along route # Maximum depth: 1077.318706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.318706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752769; longitude = -121.848609; captureRadius = 10; duration = 135; initialDepth = 1027.689116; finalDepth = 1027.318706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.318706 # Seafloor depth:-1077.318706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1077.689116 meters looking forward 0.000000 meters along route # Maximum depth: 1077.689116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.689116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753598; longitude = -121.847944; captureRadius = 10; duration = 135; initialDepth = 1030.339988; finalDepth = 1027.689116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.689116 # Seafloor depth:-1077.689116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1080.339988 meters looking forward 0.000000 meters along route # Maximum depth: 1080.339988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.339988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754427; longitude = -121.847279; captureRadius = 10; duration = 135; initialDepth = 1024.366884; finalDepth = 1030.339988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.339988 # Seafloor depth:-1080.339988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1074.366884 meters looking forward 0.000000 meters along route # Maximum depth: 1074.366884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.366884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755257; longitude = -121.846613; captureRadius = 10; duration = 135; initialDepth = 1026.951921; finalDepth = 1024.366884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.366884 # Seafloor depth:-1074.366884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1076.951921 meters looking forward 0.000000 meters along route # Maximum depth: 1076.951921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.951921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756137; longitude = -121.845907; captureRadius = 10; duration = 135; initialDepth = 1026.017907; finalDepth = 1026.951921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.951921 # Seafloor depth:-1076.951921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1076.017907 meters looking forward 0.000000 meters along route # Maximum depth: 1076.017907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.017907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756915; longitude = -121.845283; captureRadius = 10; duration = 135; initialDepth = 1037.627952; finalDepth = 1026.017907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.017907 # Seafloor depth:-1076.017907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1087.627952 meters looking forward 0.000000 meters along route # Maximum depth: 1087.627952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.627952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757744; longitude = -121.844618; captureRadius = 10; duration = 135; initialDepth = 1027.804684; finalDepth = 1037.627952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.627952 # Seafloor depth:-1087.627952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1077.804684 meters looking forward 0.000000 meters along route # Maximum depth: 1077.804684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.804684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758573; longitude = -121.843953; captureRadius = 10; duration = 135; initialDepth = 1022.320308; finalDepth = 1027.804684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1027.804684 # Seafloor depth:-1077.804684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1072.320308 meters looking forward 0.000000 meters along route # Maximum depth: 1072.320308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.320308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759403; longitude = -121.843288; captureRadius = 10; duration = 135; initialDepth = 1021.223732; finalDepth = 1022.320308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.320308 # Seafloor depth:-1072.320308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.223732 meters looking forward 0.000000 meters along route # Maximum depth: 1071.223732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.223732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760272; longitude = -121.842590; captureRadius = 10; duration = 135; initialDepth = 1021.169937; finalDepth = 1021.223732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.223732 # Seafloor depth:-1071.223732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.169937 meters looking forward 0.000000 meters along route # Maximum depth: 1071.169937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.169937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761061; longitude = -121.841957; captureRadius = 10; duration = 135; initialDepth = 1024.775954; finalDepth = 1021.169937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.169937 # Seafloor depth:-1071.169937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1074.775954 meters looking forward 0.000000 meters along route # Maximum depth: 1074.775954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.775954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761890; longitude = -121.841292; captureRadius = 10; duration = 135; initialDepth = 1024.970463; finalDepth = 1024.775954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.775954 # Seafloor depth:-1074.775954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1074.970463 meters looking forward 0.000000 meters along route # Maximum depth: 1074.970463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.970463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762719; longitude = -121.840627; captureRadius = 10; duration = 135; initialDepth = 1021.811481; finalDepth = 1024.970463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.970463 # Seafloor depth:-1074.970463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.811481 meters looking forward 0.000000 meters along route # Maximum depth: 1071.811481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.811481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763549; longitude = -121.839962; captureRadius = 10; duration = 135; initialDepth = 1021.952061; finalDepth = 1021.811481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.811481 # Seafloor depth:-1071.811481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.952061 meters looking forward 0.000000 meters along route # Maximum depth: 1071.952061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.952061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764407; longitude = -121.839274; captureRadius = 10; duration = 135; initialDepth = 1022.754944; finalDepth = 1021.952061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.952061 # Seafloor depth:-1071.952061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1072.754944 meters looking forward 0.000000 meters along route # Maximum depth: 1072.754944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.754944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765207; longitude = -121.838632; captureRadius = 10; duration = 135; initialDepth = 1023.973446; finalDepth = 1022.754944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.754944 # Seafloor depth:-1072.754944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1073.973446 meters looking forward 0.000000 meters along route # Maximum depth: 1073.973446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.973446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766036; longitude = -121.837966; captureRadius = 10; duration = 135; initialDepth = 1021.909695; finalDepth = 1023.973446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.973446 # Seafloor depth:-1073.973446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.909695 meters looking forward 0.000000 meters along route # Maximum depth: 1071.909695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.909695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766865; longitude = -121.837301; captureRadius = 10; duration = 135; initialDepth = 1021.519282; finalDepth = 1021.909695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.909695 # Seafloor depth:-1071.909695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.519282 meters looking forward 0.000000 meters along route # Maximum depth: 1071.519282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.519282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767695; longitude = -121.836636; captureRadius = 10; duration = 135; initialDepth = 1020.023412; finalDepth = 1021.519282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.519282 # Seafloor depth:-1071.519282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1070.023412 meters looking forward 0.000000 meters along route # Maximum depth: 1070.023412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.023412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768542; longitude = -121.835957; captureRadius = 10; duration = 135; initialDepth = 1021.238159; finalDepth = 1020.023412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.023412 # Seafloor depth:-1070.023412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.238159 meters looking forward 0.000000 meters along route # Maximum depth: 1071.238159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.238159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769353; longitude = -121.835306; captureRadius = 10; duration = 135; initialDepth = 1018.613106; finalDepth = 1021.238159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.238159 # Seafloor depth:-1071.238159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1068.613106 meters looking forward 0.000000 meters along route # Maximum depth: 1068.613106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.613106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770182; longitude = -121.834641; captureRadius = 10; duration = 135; initialDepth = 1022.895851; finalDepth = 1018.613106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.613106 # Seafloor depth:-1068.613106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1072.895851 meters looking forward 0.000000 meters along route # Maximum depth: 1072.895851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.895851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771012; longitude = -121.833976; captureRadius = 10; duration = 135; initialDepth = 1025.290806; finalDepth = 1022.895851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.895851 # Seafloor depth:-1072.895851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.290806 meters looking forward 0.000000 meters along route # Maximum depth: 1075.290806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.290806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771841; longitude = -121.833310; captureRadius = 10; duration = 135; initialDepth = 1021.418094; finalDepth = 1025.290806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.290806 # Seafloor depth:-1075.290806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.418094 meters looking forward 0.000000 meters along route # Maximum depth: 1071.418094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.418094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772677; longitude = -121.832640; captureRadius = 10; duration = 135; initialDepth = 1019.561384; finalDepth = 1021.418094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.418094 # Seafloor depth:-1071.418094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1069.561384 meters looking forward 0.000000 meters along route # Maximum depth: 1069.561384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.561384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773499; longitude = -121.831980; captureRadius = 10; duration = 135; initialDepth = 1022.249948; finalDepth = 1019.561384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.561384 # Seafloor depth:-1069.561384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1072.249948 meters looking forward 0.000000 meters along route # Maximum depth: 1072.249948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.249948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774400; longitude = -121.831258; captureRadius = 10; duration = 135; initialDepth = 1021.123049; finalDepth = 1022.249948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.249948 # Seafloor depth:-1072.249948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1071.123049 meters looking forward 0.000000 meters along route # Maximum depth: 1071.123049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.123049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775158; longitude = -121.830650; captureRadius = 10; duration = 135; initialDepth = 1020.031427; finalDepth = 1021.123049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.123049 # Seafloor depth:-1071.123049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1070.031427 meters looking forward 0.000000 meters along route # Maximum depth: 1070.031427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.031427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775987; longitude = -121.829985; captureRadius = 10; duration = 135; initialDepth = 1024.981759; finalDepth = 1020.031427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.031427 # Seafloor depth:-1070.031427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1074.981759 meters looking forward 0.000000 meters along route # Maximum depth: 1074.981759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.981759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776816; longitude = -121.829320; captureRadius = 10; duration = 135; initialDepth = 1028.948448; finalDepth = 1024.981759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.981759 # Seafloor depth:-1074.981759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1078.948448 meters looking forward 0.000000 meters along route # Maximum depth: 1078.948448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.948448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777645; longitude = -121.828654; captureRadius = 10; duration = 135; initialDepth = 1025.247625; finalDepth = 1028.948448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.948448 # Seafloor depth:-1078.948448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.247625 meters looking forward 0.000000 meters along route # Maximum depth: 1075.247625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.247625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778535; longitude = -121.827941; captureRadius = 10; duration = 135; initialDepth = 1019.417641; finalDepth = 1025.247625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.247625 # Seafloor depth:-1075.247625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1069.417641 meters looking forward 0.000000 meters along route # Maximum depth: 1069.417641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.417641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779304; longitude = -121.827324; captureRadius = 10; duration = 135; initialDepth = 1019.689679; finalDepth = 1019.417641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.417641 # Seafloor depth:-1069.417641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1069.689679 meters looking forward 0.000000 meters along route # Maximum depth: 1069.689679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.689679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780133; longitude = -121.826659; captureRadius = 10; duration = 135; initialDepth = 1018.816375; finalDepth = 1019.689679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.689679 # Seafloor depth:-1069.689679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1068.816375 meters looking forward 0.000000 meters along route # Maximum depth: 1068.816375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.816375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780962; longitude = -121.825994; captureRadius = 10; duration = 135; initialDepth = 1022.641423; finalDepth = 1018.816375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.816375 # Seafloor depth:-1068.816375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1072.641423 meters looking forward 0.000000 meters along route # Maximum depth: 1072.641423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.641423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781791; longitude = -121.825329; captureRadius = 10; duration = 135; initialDepth = 1025.652802; finalDepth = 1022.641423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.641423 # Seafloor depth:-1072.641423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.652802 meters looking forward 0.000000 meters along route # Maximum depth: 1075.652802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.652802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782670; longitude = -121.824624; captureRadius = 10; duration = 135; initialDepth = 1031.847895; finalDepth = 1025.652802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.652802 # Seafloor depth:-1075.652802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1081.847895 meters looking forward 0.000000 meters along route # Maximum depth: 1081.847895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.847895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783450; longitude = -121.823998; captureRadius = 10; duration = 135; initialDepth = 1037.775419; finalDepth = 1031.847895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.847895 # Seafloor depth:-1081.847895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1087.775419 meters looking forward 0.000000 meters along route # Maximum depth: 1087.775419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1037.775419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784279; longitude = -121.823333; captureRadius = 10; duration = 135; initialDepth = 1036.735202; finalDepth = 1037.775419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1037.775419 # Seafloor depth:-1087.775419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1086.735202 meters looking forward 0.000000 meters along route # Maximum depth: 1086.735202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.735202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785108; longitude = -121.822668; captureRadius = 10; duration = 135; initialDepth = 1025.466154; finalDepth = 1036.735202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1036.735202 # Seafloor depth:-1086.735202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1075.466154 meters looking forward 0.000000 meters along route # Maximum depth: 1075.466154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.466154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785937; longitude = -121.822003; captureRadius = 10; duration = 135; initialDepth = 1018.729548; finalDepth = 1025.466154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.466154 # Seafloor depth:-1075.466154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1068.729548 meters looking forward 0.000000 meters along route # Maximum depth: 1068.729548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.729548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786805; longitude = -121.821307; captureRadius = 10; duration = 135; initialDepth = 1019.487670; finalDepth = 1018.729548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.729548 # Seafloor depth:-1068.729548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1069.487670 meters looking forward 0.000000 meters along route # Maximum depth: 1069.487670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.487670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787596; longitude = -121.820673; captureRadius = 10; duration = 135; initialDepth = 1015.500229; finalDepth = 1019.487670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.48767 # Seafloor depth:-1069.487670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1065.500229 meters looking forward 0.000000 meters along route # Maximum depth: 1065.500229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.500229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788425; longitude = -121.820008; captureRadius = 10; duration = 135; initialDepth = 1016.856537; finalDepth = 1015.500229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.500229 # Seafloor depth:-1065.500229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1066.856537 meters looking forward 0.000000 meters along route # Maximum depth: 1066.856537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.856537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789254; longitude = -121.819342; captureRadius = 10; duration = 135; initialDepth = 1016.850040; finalDepth = 1016.856537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.856537 # Seafloor depth:-1066.856537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1066.850040 meters looking forward 0.000000 meters along route # Maximum depth: 1066.850040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.850040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790083; longitude = -121.818677; captureRadius = 10; duration = 135; initialDepth = 1013.608941; finalDepth = 1016.850040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.85004 # Seafloor depth:-1066.850040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1063.608941 meters looking forward 0.000000 meters along route # Maximum depth: 1063.608941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.608941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790940; longitude = -121.817990; captureRadius = 10; duration = 135; initialDepth = 1012.434512; finalDepth = 1013.608941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.608941 # Seafloor depth:-1063.608941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1062.434512 meters looking forward 0.000000 meters along route # Maximum depth: 1062.434512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.434512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791742; longitude = -121.817347; captureRadius = 10; duration = 135; initialDepth = 1013.941045; finalDepth = 1012.434512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.434512 # Seafloor depth:-1062.434512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1063.941045 meters looking forward 0.000000 meters along route # Maximum depth: 1063.941045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.941045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792571; longitude = -121.816682; captureRadius = 10; duration = 135; initialDepth = 1015.647255; finalDepth = 1013.941045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.941045 # Seafloor depth:-1063.941045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1065.647255 meters looking forward 0.000000 meters along route # Maximum depth: 1065.647255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.647255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793400; longitude = -121.816017; captureRadius = 10; duration = 135; initialDepth = 1009.404642; finalDepth = 1015.647255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1015.647255 # Seafloor depth:-1065.647255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 135.922320 meters # Minimum depth: 1059.404642 meters looking forward 0.000000 meters along route # Maximum depth: 1059.404642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.404642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794229; longitude = -121.815352; captureRadius = 10; duration = 135; initialDepth = 1008.750366; finalDepth = 1009.404642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1009.404642 # Seafloor depth:-1059.404642 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; 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 135.922320 meters # Minimum depth: 1058.750366 meters looking forward 0.000000 meters along route # Maximum depth: 1058.750366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.750366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.795048; longitude = -121.814695; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1007.451384; finalDepth = 1008.750366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.750366 # Seafloor depth:-1058.750366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 135.922320 meters # Minimum depth: 1057.451384 meters looking forward 0.000000 meters along route # Maximum depth: 1057.451384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.451384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794889; longitude = -121.814397; captureRadius = 10; duration = 135; initialDepth = 1006.724731; finalDepth = 1007.451384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1007.451384 # Seafloor depth:-1057.451384 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 135.922320 meters # Minimum depth: 1056.724731 meters looking forward 0.000000 meters along route # Maximum depth: 1056.724731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.724731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.794308; longitude = -121.813306; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 1008.703874; finalDepth = 1006.724731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1006.724731 # Seafloor depth:-1056.724731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1058.703874 meters looking forward 0.000000 meters along route # Maximum depth: 1058.703874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.703874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.793637; longitude = -121.813844; captureRadius = 10; duration = 135; initialDepth = 1016.658064; finalDepth = 1008.703874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1008.703874 # Seafloor depth:-1058.703874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1066.658064 meters looking forward 0.000000 meters along route # Maximum depth: 1066.658064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.658064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792847; longitude = -121.814478; captureRadius = 10; duration = 135; initialDepth = 1013.877443; finalDepth = 1016.658064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.658064 # Seafloor depth:-1066.658064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1063.877443 meters looking forward 0.000000 meters along route # Maximum depth: 1063.877443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.877443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.792018; longitude = -121.815143; captureRadius = 10; duration = 135; initialDepth = 1011.677085; finalDepth = 1013.877443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.877443 # Seafloor depth:-1063.877443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1061.677085 meters looking forward 0.000000 meters along route # Maximum depth: 1061.677085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.677085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.791189; longitude = -121.815808; captureRadius = 10; duration = 135; initialDepth = 1012.335342; finalDepth = 1011.677085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1011.677085 # Seafloor depth:-1061.677085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1062.335342 meters looking forward 0.000000 meters along route # Maximum depth: 1062.335342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.335342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.790360; longitude = -121.816473; captureRadius = 10; duration = 135; initialDepth = 1014.513070; finalDepth = 1012.335342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.335342 # Seafloor depth:-1062.335342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1064.513070 meters looking forward 0.000000 meters along route # Maximum depth: 1064.513070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.513070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.789502; longitude = -121.817161; captureRadius = 10; duration = 135; initialDepth = 1013.729900; finalDepth = 1014.513070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.51307 # Seafloor depth:-1064.513070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1063.729900 meters looking forward 0.000000 meters along route # Maximum depth: 1063.729900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.729900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.788701; longitude = -121.817803; captureRadius = 10; duration = 135; initialDepth = 1012.511897; finalDepth = 1013.729900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1013.7299 # Seafloor depth:-1063.729900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1062.511897 meters looking forward 0.000000 meters along route # Maximum depth: 1062.511897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.511897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787872; longitude = -121.818468; captureRadius = 10; duration = 135; initialDepth = 1017.550181; finalDepth = 1012.511897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1012.511897 # Seafloor depth:-1062.511897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1067.550181 meters looking forward 0.000000 meters along route # Maximum depth: 1067.550181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.550181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.787043; longitude = -121.819134; captureRadius = 10; duration = 135; initialDepth = 1017.517020; finalDepth = 1017.550181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.550181 # Seafloor depth:-1067.550181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1067.517020 meters looking forward 0.000000 meters along route # Maximum depth: 1067.517020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.517020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.786214; longitude = -121.819799; captureRadius = 10; duration = 135; initialDepth = 1020.463429; finalDepth = 1017.517020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.51702 # Seafloor depth:-1067.517020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1070.463429 meters looking forward 0.000000 meters along route # Maximum depth: 1070.463429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.463429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.785367; longitude = -121.820478; captureRadius = 10; duration = 135; initialDepth = 1030.642206; finalDepth = 1020.463429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.463429 # Seafloor depth:-1070.463429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1080.642206 meters looking forward 0.000000 meters along route # Maximum depth: 1080.642206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.642206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.784555; longitude = -121.821129; captureRadius = 10; duration = 135; initialDepth = 1032.356559; finalDepth = 1030.642206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1030.642206 # Seafloor depth:-1080.642206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1082.356559 meters looking forward 0.000000 meters along route # Maximum depth: 1082.356559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.356559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.783726; longitude = -121.821794; captureRadius = 10; duration = 135; initialDepth = 1028.859068; finalDepth = 1032.356559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1032.356559 # Seafloor depth:-1082.356559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1078.859068 meters looking forward 0.000000 meters along route # Maximum depth: 1078.859068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1028.859068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782897; longitude = -121.822459; captureRadius = 10; duration = 135; initialDepth = 1022.655716; finalDepth = 1028.859068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1028.859068 # Seafloor depth:-1078.859068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1072.655716 meters looking forward 0.000000 meters along route # Maximum depth: 1072.655716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.655716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.782068; longitude = -121.823124; captureRadius = 10; duration = 135; initialDepth = 1018.299907; finalDepth = 1022.655716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.655716 # Seafloor depth:-1072.655716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1068.299907 meters looking forward 0.000000 meters along route # Maximum depth: 1068.299907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.299907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.781232; longitude = -121.823795; captureRadius = 10; duration = 135; initialDepth = 1016.794942; finalDepth = 1018.299907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.299907 # Seafloor depth:-1068.299907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1066.794942 meters looking forward 0.000000 meters along route # Maximum depth: 1066.794942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.794942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.780409; longitude = -121.824455; captureRadius = 10; duration = 135; initialDepth = 1014.752662; finalDepth = 1016.794942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.794942 # Seafloor depth:-1066.794942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1064.752662 meters looking forward 0.000000 meters along route # Maximum depth: 1064.752662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.752662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.779509; longitude = -121.825177; captureRadius = 10; duration = 135; initialDepth = 1016.764527; finalDepth = 1014.752662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1014.752662 # Seafloor depth:-1064.752662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1066.764527 meters looking forward 0.000000 meters along route # Maximum depth: 1066.764527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.764527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.778751; longitude = -121.825785; captureRadius = 10; duration = 135; initialDepth = 1021.078465; finalDepth = 1016.764527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.764527 # Seafloor depth:-1066.764527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.078465 meters looking forward 0.000000 meters along route # Maximum depth: 1071.078465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.078465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777922; longitude = -121.826450; captureRadius = 10; duration = 135; initialDepth = 1026.048248; finalDepth = 1021.078465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.078465 # Seafloor depth:-1071.078465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1076.048248 meters looking forward 0.000000 meters along route # Maximum depth: 1076.048248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.048248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.777092; longitude = -121.827115; captureRadius = 10; duration = 135; initialDepth = 1024.458863; finalDepth = 1026.048248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.048248 # Seafloor depth:-1076.048248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1074.458863 meters looking forward 0.000000 meters along route # Maximum depth: 1074.458863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.458863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.776263; longitude = -121.827780; captureRadius = 10; duration = 135; initialDepth = 1017.340315; finalDepth = 1024.458863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.458863 # Seafloor depth:-1074.458863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1067.340315 meters looking forward 0.000000 meters along route # Maximum depth: 1067.340315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.340315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.775374; longitude = -121.828494; captureRadius = 10; duration = 135; initialDepth = 1017.948897; finalDepth = 1017.340315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.340315 # Seafloor depth:-1067.340315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1067.948897 meters looking forward 0.000000 meters along route # Maximum depth: 1067.948897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.948897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.774605; longitude = -121.829111; captureRadius = 10; duration = 135; initialDepth = 1017.637207; finalDepth = 1017.948897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.948897 # Seafloor depth:-1067.948897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1067.637207 meters looking forward 0.000000 meters along route # Maximum depth: 1067.637207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.637207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.773776; longitude = -121.829776; captureRadius = 10; duration = 135; initialDepth = 1016.836842; finalDepth = 1017.637207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.637207 # Seafloor depth:-1067.637207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1066.836842 meters looking forward 0.000000 meters along route # Maximum depth: 1066.836842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.836842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772946; longitude = -121.830441; captureRadius = 10; duration = 135; initialDepth = 1020.393824; finalDepth = 1016.836842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.836842 # Seafloor depth:-1066.836842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1070.393824 meters looking forward 0.000000 meters along route # Maximum depth: 1070.393824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.393824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.772117; longitude = -121.831106; captureRadius = 10; duration = 135; initialDepth = 1021.353329; finalDepth = 1020.393824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.393824 # Seafloor depth:-1070.393824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.353329 meters looking forward 0.000000 meters along route # Maximum depth: 1071.353329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.353329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.771239; longitude = -121.831811; captureRadius = 10; duration = 135; initialDepth = 1021.881593; finalDepth = 1021.353329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.353329 # Seafloor depth:-1071.353329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.881593 meters looking forward 0.000000 meters along route # Maximum depth: 1071.881593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.881593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.770459; longitude = -121.832436; captureRadius = 10; duration = 135; initialDepth = 1019.257583; finalDepth = 1021.881593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.881593 # Seafloor depth:-1071.881593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1069.257583 meters looking forward 0.000000 meters along route # Maximum depth: 1069.257583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.257583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.769630; longitude = -121.833102; captureRadius = 10; duration = 135; initialDepth = 1018.258623; finalDepth = 1019.257583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.257583 # Seafloor depth:-1069.257583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1068.258623 meters looking forward 0.000000 meters along route # Maximum depth: 1068.258623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.258623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.768800; longitude = -121.833767; captureRadius = 10; duration = 135; initialDepth = 1016.984930; finalDepth = 1018.258623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.258623 # Seafloor depth:-1068.258623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1066.984930 meters looking forward 0.000000 meters along route # Maximum depth: 1066.984930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.984930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767971; longitude = -121.834432; captureRadius = 10; duration = 135; initialDepth = 1017.722230; finalDepth = 1016.984930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1016.98493 # Seafloor depth:-1066.984930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1067.722230 meters looking forward 0.000000 meters along route # Maximum depth: 1067.722230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1017.722230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.767104; longitude = -121.835128; captureRadius = 10; duration = 135; initialDepth = 1018.994161; finalDepth = 1017.722230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1017.72223 # Seafloor depth:-1067.722230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1068.994161 meters looking forward 0.000000 meters along route # Maximum depth: 1068.994161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.994161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.766313; longitude = -121.835762; captureRadius = 10; duration = 135; initialDepth = 1021.139643; finalDepth = 1018.994161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.994161 # Seafloor depth:-1068.994161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.139643 meters looking forward 0.000000 meters along route # Maximum depth: 1071.139643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.139643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.765483; longitude = -121.836427; captureRadius = 10; duration = 135; initialDepth = 1019.596279; finalDepth = 1021.139643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.139643 # Seafloor depth:-1071.139643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1069.596279 meters looking forward 0.000000 meters along route # Maximum depth: 1069.596279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.596279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.764654; longitude = -121.837092; captureRadius = 10; duration = 135; initialDepth = 1019.430352; finalDepth = 1019.596279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.596279 # Seafloor depth:-1069.596279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1069.430352 meters looking forward 0.000000 meters along route # Maximum depth: 1069.430352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.430352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.763825; longitude = -121.837758; captureRadius = 10; duration = 135; initialDepth = 1018.723966; finalDepth = 1019.430352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.430352 # Seafloor depth:-1069.430352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1068.723966 meters looking forward 0.000000 meters along route # Maximum depth: 1068.723966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.723966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762969; longitude = -121.838444; captureRadius = 10; duration = 135; initialDepth = 1021.797326; finalDepth = 1018.723966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1018.723966 # Seafloor depth:-1068.723966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.797326 meters looking forward 0.000000 meters along route # Maximum depth: 1071.797326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.797326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.762167; longitude = -121.839088; captureRadius = 10; duration = 135; initialDepth = 1021.840332; finalDepth = 1021.797326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.797326 # Seafloor depth:-1071.797326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.840332 meters looking forward 0.000000 meters along route # Maximum depth: 1071.840332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.840332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.761337; longitude = -121.839753; captureRadius = 10; duration = 135; initialDepth = 1021.788609; finalDepth = 1021.840332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.840332 # Seafloor depth:-1071.840332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.788609 meters looking forward 0.000000 meters along route # Maximum depth: 1071.788609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.788609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.760508; longitude = -121.840418; captureRadius = 10; duration = 135; initialDepth = 1019.762592; finalDepth = 1021.788609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.788609 # Seafloor depth:-1071.788609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1069.762592 meters looking forward 0.000000 meters along route # Maximum depth: 1069.762592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.762592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.759679; longitude = -121.841083; captureRadius = 10; duration = 135; initialDepth = 1024.272981; finalDepth = 1019.762592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.762592 # Seafloor depth:-1069.762592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1074.272981 meters looking forward 0.000000 meters along route # Maximum depth: 1074.272981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.272981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758834; longitude = -121.841761; captureRadius = 10; duration = 135; initialDepth = 1021.429594; finalDepth = 1024.272981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.272981 # Seafloor depth:-1074.272981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1071.429594 meters looking forward 0.000000 meters along route # Maximum depth: 1071.429594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.429594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.758021; longitude = -121.842414; captureRadius = 10; duration = 135; initialDepth = 1031.899224; finalDepth = 1021.429594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1021.429594 # Seafloor depth:-1071.429594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1081.899224 meters looking forward 0.000000 meters along route # Maximum depth: 1081.899224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1031.899224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.757191; longitude = -121.843079; captureRadius = 10; duration = 135; initialDepth = 1026.400847; finalDepth = 1031.899224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1031.899224 # Seafloor depth:-1081.899224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1076.400847 meters looking forward 0.000000 meters along route # Maximum depth: 1076.400847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1026.400847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.756362; longitude = -121.843744; captureRadius = 10; duration = 135; initialDepth = 1024.773707; finalDepth = 1026.400847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1026.400847 # Seafloor depth:-1076.400847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1074.773707 meters looking forward 0.000000 meters along route # Maximum depth: 1074.773707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.773707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.755533; longitude = -121.844409; captureRadius = 10; duration = 135; initialDepth = 1025.057076; finalDepth = 1024.773707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.773707 # Seafloor depth:-1074.773707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1075.057076 meters looking forward 0.000000 meters along route # Maximum depth: 1075.057076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.057076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.754699; longitude = -121.845078; captureRadius = 10; duration = 135; initialDepth = 1023.368926; finalDepth = 1025.057076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.057076 # Seafloor depth:-1075.057076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1073.368926 meters looking forward 0.000000 meters along route # Maximum depth: 1073.368926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.368926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.753874; longitude = -121.845739; captureRadius = 10; duration = 135; initialDepth = 1025.484848; finalDepth = 1023.368926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.368926 # Seafloor depth:-1073.368926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1075.484848 meters looking forward 0.000000 meters along route # Maximum depth: 1075.484848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.484848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752976; longitude = -121.846460; captureRadius = 10; duration = 135; initialDepth = 1023.172631; finalDepth = 1025.484848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1025.484848 # Seafloor depth:-1075.484848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1073.172631 meters looking forward 0.000000 meters along route # Maximum depth: 1073.172631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.172631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.752216; longitude = -121.847070; captureRadius = 10; duration = 135; initialDepth = 1020.714002; finalDepth = 1023.172631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.172631 # Seafloor depth:-1073.172631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1070.714002 meters looking forward 0.000000 meters along route # Maximum depth: 1070.714002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.714002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.751387; longitude = -121.847735; captureRadius = 10; duration = 135; initialDepth = 1022.168870; finalDepth = 1020.714002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.714002 # Seafloor depth:-1070.714002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1072.168870 meters looking forward 0.000000 meters along route # Maximum depth: 1072.168870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.168870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.750558; longitude = -121.848400; captureRadius = 10; duration = 135; initialDepth = 1020.170044; finalDepth = 1022.168870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.16887 # Seafloor depth:-1072.168870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1070.170044 meters looking forward 0.000000 meters along route # Maximum depth: 1070.170044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.170044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.749728; longitude = -121.849065; captureRadius = 10; duration = 135; initialDepth = 1024.012445; finalDepth = 1020.170044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.170044 # Seafloor depth:-1070.170044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1074.012445 meters looking forward 0.000000 meters along route # Maximum depth: 1074.012445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.012445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748841; longitude = -121.849777; captureRadius = 10; duration = 135; initialDepth = 1023.009017; finalDepth = 1024.012445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1024.012445 # Seafloor depth:-1074.012445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1073.009017 meters looking forward 0.000000 meters along route # Maximum depth: 1073.009017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.009017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.748070; longitude = -121.850395; captureRadius = 10; duration = 135; initialDepth = 1022.345772; finalDepth = 1023.009017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.009017 # Seafloor depth:-1073.009017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1072.345772 meters looking forward 0.000000 meters along route # Maximum depth: 1072.345772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.345772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.747241; longitude = -121.851061; captureRadius = 10; duration = 135; initialDepth = 1019.293226; finalDepth = 1022.345772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.345772 # Seafloor depth:-1072.345772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1069.293226 meters looking forward 0.000000 meters along route # Maximum depth: 1069.293226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.293226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.746412; longitude = -121.851726; captureRadius = 10; duration = 135; initialDepth = 1023.798942; finalDepth = 1019.293226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1019.293226 # Seafloor depth:-1069.293226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1073.798942 meters looking forward 0.000000 meters along route # Maximum depth: 1073.798942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.798942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.745582; longitude = -121.852391; captureRadius = 10; duration = 135; initialDepth = 1023.777952; finalDepth = 1023.798942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.798942 # Seafloor depth:-1073.798942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1073.777952 meters looking forward 0.000000 meters along route # Maximum depth: 1073.777952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.777952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.744706; longitude = -121.853094; captureRadius = 10; duration = 135; initialDepth = 1020.626369; finalDepth = 1023.777952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1023.777952 # Seafloor depth:-1073.777952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1070.626369 meters looking forward 0.000000 meters along route # Maximum depth: 1070.626369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.626369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743924; longitude = -121.853721; captureRadius = 10; duration = 135; initialDepth = 1020.392984; finalDepth = 1020.626369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.626369 # Seafloor depth:-1070.626369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1070.392984 meters looking forward 0.000000 meters along route # Maximum depth: 1070.392984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.392984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743095; longitude = -121.854386; captureRadius = 10; duration = 135; initialDepth = 1022.541223; finalDepth = 1020.392984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1020.392984 # Seafloor depth:-1070.392984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.922320 meters # Minimum depth: 1072.541223 meters looking forward 0.000000 meters along route # Maximum depth: 1072.541223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1086.837361 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.541223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742266; longitude = -121.855051; captureRadius = 10; duration = 135; initialDepth = 1024.885010; finalDepth = 1022.541223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1022.541223 # Seafloor depth:-1072.541223 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; 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:1024.88501 # Seafloor depth:-1074.885010 # 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; 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 135.922320 meters # Minimum depth: 1074.885010 meters looking forward 0.000000 meters along route # Maximum depth: 1074.885010 meters looking forward 0.000000 meters along route # Vehicle depth: 1024.885010 meters behavior waypoint { latitude = 35.741240; longitude = -121.855874; captureRadius = 10; duration = 256; depth = 1024.885010; 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 1024.885010 meters set by local depth and desired altitude behavior descend { duration = 3093; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1014.885010; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 135.922320 meters # Minimum depth: 1074.885010 meters looking forward 0.000000 meters along route # Maximum depth: 1074.885010 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 35.741240; longitude = -121.855874; captureRadius = 10; duration = 500; depth = 30.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 32.492957; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 32.492957; 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 = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 20.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################